A robot mapping constraint method, chip and robot

Abstract

This invention discloses a robot mapping limitation method, a chip, and a robot. The method includes: during the robot mapping process, detecting the area of ​​the map currently being built by the robot; when the area of ​​the map currently being built by the robot reaches a preset area threshold, establishing a set of closed virtual walls on the map currently being built by the robot according to preset limitation rules to limit the robot's mapping area. When the area of ​​the map currently being built by the robot does not reach the preset area threshold, the robot maintains normal mapping behavior. This invention limits the size of the map built by the robot by establishing virtual walls, achieving low-cost limitation on the size of the robot's mapping, and solving the problem that the excessive memory occupied by the robot in map building affects the execution of other robot functions.

Description

Technical Field

[0001] This invention relates to the field of robot mapping, specifically to a robot mapping constraint method, a chip, and a robot. Background Technology

[0002] With the rapid development of technology, robots are widely used in various industries. A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Robots possess basic characteristics such as perception, decision-making, and execution. The memory occupied by the computational program code that controls the robot to complete corresponding tasks is positively correlated with the complexity of the task. However, robot memory is limited. Therefore, engineers strive to minimize the memory occupied by the computational program code while ensuring the robot can perform tasks effectively. Currently, in the field of robot mapping, the main method to reduce the memory consumption of the map is to dynamically and repeatedly request the memory required for local maps. This method can effectively reduce the memory occupied by robot mapping, but it cannot practically solve the problem of excessive memory consumption when the robot-built map is too large. When the robot continues to build a map even though it has already occupied a significant amount of memory, this will lead to excessive memory consumption by the robot's map, potentially causing other functions of the robot to malfunction due to the excessive memory occupied by the map. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a robot mapping limitation method that restricts the size of the map constructed by the robot, thus resolving the issue of excessive memory usage during map construction affecting the execution of other robot functions. The specific technical solution of this invention is as follows:

[0004] A robot mapping restriction method includes: during the robot mapping process, detecting the area of ​​the map currently being built by the robot; when the area of ​​the map currently being built by the robot reaches a preset area threshold, setting up a set of closed virtual walls on the map currently being built by the robot according to preset restriction rules to limit the robot mapping area.

[0005] Compared with existing technologies, this technical solution limits the robot's mapping range by setting up virtual walls when the area of ​​the map built by the robot reaches a preset area threshold. This achieves cost-effective limitation on the size of the robot's map, avoids the robot endlessly building maps, solves the problem of excessive memory consumption by the robot's map affecting the execution of the robot's main functions, and ensures the normal operation of the robot.

[0006] Furthermore, the step of setting up virtual walls on the map currently constructed by the robot according to preset limiting rules specifically includes: obtaining the coordinates of the four vertices of a first rectangle with a minimum area that can enclose the map currently constructed by the robot; performing a translation operation of a preset distance on the coordinates of the four vertices of the first rectangle to obtain the coordinates of the four vertices of a second rectangle; and setting up a set of closed virtual walls on the boundary defined by the second rectangle. This technical solution uses a method of obtaining the virtual wall setting position by defining the current map with a rectangle of minimum area, which saves the robot's computing resources compared to the method of obtaining the map boundary and then expanding to obtain the virtual wall position.

[0007] Furthermore, obtaining the coordinates of the four vertices of a first rectangle with the smallest area that can enclose the map currently constructed by the robot specifically includes: enumerating all coordinate points on the map currently constructed by the robot; obtaining the minimum, maximum, minimum, and maximum x-axis coordinates from all coordinate points on the map currently constructed by the robot; determining the coordinates of the first vertex at the top left corner of the first rectangle as the minimum x-axis coordinate and maximum y-axis coordinate; determining the coordinates of the second vertex at the top right corner of the first rectangle as the maximum x-axis coordinate and maximum y-axis coordinate; determining the coordinates of the third vertex at the bottom left corner of the first rectangle as the minimum x-axis coordinate and minimum y-axis coordinate; and determining the coordinates of the fourth vertex at the bottom right corner of the first rectangle as the maximum x-axis coordinate and minimum y-axis coordinate. This technical solution determines the coordinates of the four vertices of the first rectangle by enumerating the coordinates of all points on the map constructed by the robot and obtaining the minimum and maximum x-axis and y-axis coordinates of the map, without the need for additional map outline and center acquisition, saving robot computing resources and improving robot computing efficiency.

[0008] Further, the step of performing a translation operation of a preset distance on the four vertices of the first rectangle to obtain the coordinates of the four vertices of the second rectangle specifically includes: translating the y-axis coordinate of the first vertex at the top left corner of the first rectangle upwards by a preset distance to obtain the y-axis coordinate of the first vertex of the second rectangle; translating the x-axis coordinate of the first vertex at the top left corner of the first rectangle to the left by a preset distance to obtain the x-axis coordinate of the first vertex of the second rectangle; translating the y-axis coordinate of the second vertex at the top right corner of the first rectangle upwards by a preset distance to obtain the y-axis coordinate of the second vertex of the second rectangle; translating the x-axis coordinate of the second vertex at the top right corner of the first rectangle to the right by a preset distance to obtain the x-axis coordinate of the second vertex of the second rectangle; and so on. The y-coordinate of the third vertex at the bottom left corner of the first rectangle is shifted downwards by a preset distance to obtain the y-coordinate of the third vertex of the second rectangle. Similarly, the x-coordinate of the third vertex at the bottom left corner of the first rectangle is shifted to the left by a preset distance to obtain the x-coordinate of the third vertex of the second rectangle. The y-coordinate of the fourth vertex at the bottom right corner of the first rectangle is shifted downwards by a preset distance to obtain the y-coordinate of the fourth vertex of the second rectangle. The x-coordinate and y-coordinate of the first, second, third, and fourth vertices of the second rectangle are recorded to obtain the coordinates of the four vertices of the second rectangle. By shifting the four vertices of the first rectangle by a preset distance and direction, the coordinates of the four vertices of the second rectangle are obtained. Pre-setting the shift distance allows for the planned and controlled placement of the robot's virtual wall based on a preset area threshold.

[0009] Furthermore, the step of setting up virtual walls on the map currently constructed by the robot according to preset limiting rules specifically includes: obtaining the map outline of the map currently constructed by the robot; obtaining a point in the map currently constructed by the robot as a fixed point, and enlarging the map outline proportionally at the fixed point according to a preset ratio to obtain a third graphic; setting up a set of closed virtual walls on the boundary defined by the third graphic; wherein, the third graphic refers to the graphic obtained after the map outline is enlarged proportionally at the fixed point according to a preset ratio; the center point of the third graphic coincides with the center point of the map currently constructed by the robot. This technical solution adopts the method of obtaining the map outline and then enlarging it proportionally to obtain the virtual wall setting position. Compared with the method of simply defining the current map with a rectangle to obtain the virtual wall setting position, it can better limit the robot's mapping area, improve the utilization rate of the robot's limited mapping area, and reduce the memory occupation of unnecessary mapping areas.

[0010] Further, obtaining the center point of the map currently constructed by the robot specifically includes: enumerating all coordinate points on the map currently constructed by the robot; obtaining the minimum, maximum, minimum, and maximum x-axis coordinates from all coordinate points on the map currently constructed by the robot; obtaining a third rectangle with the smallest area that can enclose the map currently constructed by the robot; determining the intersection of the two diagonals of the third rectangle as the center point of the third rectangle; determining the center point of the third rectangle as the fixed point of the map currently constructed by the robot; wherein, the coordinates of the first vertex of the upper left corner of the third rectangle are the minimum and maximum x-axis coordinates; the coordinates of the second vertex of the upper right corner of the third rectangle are the maximum and maximum x-axis coordinates; the coordinates of the third vertex of the lower left corner of the third rectangle are the minimum and minimum x-axis coordinates; and the coordinates of the fourth vertex of the lower right corner of the third rectangle are the maximum and minimum x-axis coordinates. This technical solution uses the center point of the map currently constructed by the robot as a fixed point to enlarge the map outline proportionally. By enlarging the map at the fixed point, the edges of the enlarged third graphic are evenly distributed around the map currently constructed by the robot.

[0011] Furthermore, the robot mapping restriction method also includes: when the area of ​​the map currently constructed by the robot does not reach a preset area threshold, the robot maintains its normal mapping behavior. This technical solution only restricts the situation where the map area reaches the preset area threshold and does not affect the robot's normal mapping behavior.

[0012] Furthermore, the robot mapping restriction method also includes: after setting a set of closed virtual walls on the map currently constructed by the robot according to preset restriction rules, the robot updates the map with the set of closed virtual walls to the map currently constructed by the robot and saves it. In this technical solution, the robot saves the virtual walls and the map synchronously, ensuring that the virtual walls do not disappear due to robot relocation.

[0013] Furthermore, after the robot updates and saves the map with a set of closed virtual walls, if the robot performs a relocation operation, after the robot successfully relocates, the robot will reload the map with a set of closed virtual walls into the map that the robot has currently constructed.

[0014] Furthermore, the robot mapping restriction method also includes: robot navigation fails when the robot's navigation destination is outside the set of closed virtual walls. This technical solution limits the robot's movement range by setting virtual walls; if the robot's navigation destination is outside the virtual walls, the robot cannot reach it, and robot navigation fails.

[0015] Furthermore, if the robot is placed outside the set of enclosed virtual walls to perform a relocation operation, the robot relocation result is set as relocation failure. This technical solution sets the robot relocation result as relocation failure when the robot is placed outside the virtual walls to avoid the situation where the robot has to rebuild the map again and the map area of ​​the robot becomes too large when the user places the robot outside the virtual walls for relocation.

[0016] The present invention also discloses a chip that stores computer program code inside the chip, the computer program code being used to control a robot to execute the above-described robot mapping constraint method.

[0017] The present invention also discloses a robot, which has a main control chip installed inside, the main control chip being the chip described above, enabling the robot to execute the robot mapping constraint method described above. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating a robot mapping constraint method according to an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of a map with a virtual wall as described in one embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of a map with a virtual wall as described in another embodiment of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described below are merely illustrative of the invention and are not intended to limit the invention. Furthermore, it should be understood that for those skilled in the art, modifications to the design, manufacturing, or production processes disclosed in this invention are merely conventional technical means and should not be construed as insufficient disclosure of the invention.

[0022] One embodiment of the present invention provides a robot mapping constraint method, such as... Figure 1 As shown, the robot mapping restriction method includes: during the robot mapping process, detecting the area of ​​the map currently being built by the robot; determining whether the area of ​​the map currently being built by the robot reaches a preset area threshold; when the area of ​​the map currently being built by the robot reaches the preset area threshold, setting up a set of closed virtual walls on the map currently being built by the robot according to preset restriction rules to limit the robot's mapping area. When the area of ​​the map currently being built by the robot does not reach the preset area threshold, the robot maintains normal mapping behavior.

[0023] The preset area threshold is a threshold set by the user before the robot leaves the factory, based on the actual usable memory space of the robot. The actual usable memory space of the robot refers to the unused storage space in the robot's memory. The set of closed virtual walls can be, but is not limited to, composed of several virtual walls. The closed virtual walls are used to limit the robot's movement within the area defined by the set of virtual walls. The set of closed virtual walls can be, but is not limited to, a completely closed set of virtual walls, or a set of virtual walls with one or more exits that cannot accommodate the robot. Therefore, to avoid the robot's actual usable memory space being completely occupied by the map built by the robot, resulting in the robot having no extra space to run its main functions, this embodiment limits the size of the robot's mapping area by setting a preset area threshold. When the area of ​​the map built by the robot reaches the preset area threshold, virtual walls are set to restrict the robot's movement area, thereby limiting the robot's final mapping area. This avoids the problems of existing robot-built maps occupying large amounts of memory, unreasonable memory utilization, and limited robot main functions.

[0024] Preferably, such as Figure 2 As shown, setting up virtual walls on the map currently constructed by the robot according to preset restriction rules may specifically include: obtaining the coordinates of the four vertices of a first rectangle with a minimum area that can enclose the map currently constructed by the robot; obtaining the coordinates of the four vertices of the first rectangle; performing a translation operation of a preset distance on the coordinates of the four vertices of the first rectangle to obtain the coordinates of the four vertices of a second rectangle; determining the positions of the four sides of the second rectangle based on the coordinates of the four vertices of the second rectangle; and setting up a set of closed virtual walls on the boundary defined by the four sides of the second rectangle.

[0025] Specifically, obtaining the coordinates of the four vertices of a first rectangle that can enclose the smallest area of ​​the map currently constructed by the robot includes: enumerating all coordinate points on the map currently constructed by the robot; obtaining the minimum x-axis coordinate, maximum x-axis coordinate, minimum y-axis coordinate, and maximum y-axis coordinate from all coordinate points on the map currently constructed by the robot; determining the coordinates of the first vertex at the top left corner of the first rectangle as the minimum x-axis coordinate and maximum y-axis coordinate; determining the coordinates of the second vertex at the top right corner of the first rectangle as the maximum x-axis coordinate and maximum y-axis coordinate; determining the coordinates of the third vertex at the bottom left corner of the first rectangle as the minimum x-axis coordinate and minimum y-axis coordinate; and determining the coordinates of the fourth vertex at the bottom right corner of the first rectangle as the maximum x-axis coordinate and minimum y-axis coordinate.

[0026] Specifically, the step of performing a translation operation of a preset distance on the coordinates of the four vertices of the first rectangle to obtain the coordinates of the four vertices of the second rectangle includes: translating the y-axis coordinate of the first vertex at the top left corner of the first rectangle upwards by a preset distance to obtain the y-axis coordinate of the first vertex of the second rectangle; translating the x-axis coordinate of the first vertex at the top left corner of the first rectangle to the left by a preset distance to obtain the x-axis coordinate of the first vertex of the second rectangle; translating the y-axis coordinate of the second vertex at the top right corner of the first rectangle upwards by a preset distance to obtain the y-axis coordinate of the second vertex of the second rectangle; translating the x-axis coordinate of the second vertex at the top right corner of the first rectangle to the right by a preset distance to obtain the x-axis coordinate of the second vertex of the second rectangle; and translating the y-axis coordinate of the third vertex at the bottom left corner of the first rectangle downwards by a preset distance to obtain the coordinates of the second vertex of the second rectangle. The y-coordinate of the third vertex of the second rectangle is obtained by shifting the x-coordinate of the third vertex of the lower left corner of the first rectangle to the left by a preset distance; the y-coordinate of the fourth vertex of the lower right corner of the first rectangle is obtained by shifting the y-coordinate of the fourth vertex of the second rectangle downwards by a preset distance, and the x-coordinate of the fourth vertex of the lower right corner of the first rectangle is obtained by shifting the x-coordinate of the fourth vertex of the second rectangle to the right by a preset distance; the x-coordinates and y-coordinates of the first, second, third, and fourth vertices of the second rectangle are recorded respectively to obtain the coordinates of the four vertices of the second rectangle; wherein, the preset distance is set by the designer before the robot leaves the factory based on a comprehensive consideration of various factors such as the detectable range of the robot's LiDAR and a preset area threshold.

[0027] Preferably, the step of setting up virtual walls on the map currently constructed by the robot according to preset limiting rules may further include: obtaining the map outline of the map currently constructed by the robot; obtaining a coordinate point in the map currently constructed by the robot as a fixed point; enlarging the map outline proportionally according to a preset ratio to obtain a third graphic; setting up a set of closed virtual walls on the boundary defined by the third graphic; wherein, the third graphic refers to the graphic obtained after the map outline is enlarged proportionally according to a preset ratio; the center point of the third graphic coincides with the center point of the map currently constructed by the robot; the preset ratio is set by the robot's designer before leaving the factory based on a comprehensive consideration of various factors such as the robot's preset area threshold and robot memory; the boundary defined by the third graphic refers to the location of several edges of the third graphic; and several virtual walls are set up according to the locations of several edges of the third graphic to form a set of closed virtual walls. This method of setting up virtual walls in this embodiment can obtain the location of virtual walls by proportionally enlarging the map actually constructed by the robot, thereby achieving more precise limitation on the robot's mapping area and movement range, and further improving the utilization rate of robot memory.

[0028] Preferably, the step of obtaining a coordinate point as a fixed point in the map currently constructed by the robot can be, but is not limited to, the center point or centroid of the map currently constructed by the robot.

[0029] Based on the above embodiments, another embodiment of the present invention provides a robot mapping constraint method, which obtains the center point of the map currently constructed by the robot as a fixed point, such as... Figure 3 As shown, the method for obtaining the center point of the map currently constructed by the robot specifically includes: enumerating all coordinate points on the map currently constructed by the robot; obtaining the minimum, maximum, minimum, and maximum x-axis coordinates from all coordinate points on the map currently constructed by the robot; obtaining a third rectangle with the smallest area that can enclose the map currently constructed by the robot; determining the intersection of the two diagonals of the third rectangle as the center point of the third rectangle; determining the center point of the third rectangle as the fixed point of the map currently constructed by the robot; wherein, the coordinates of the first vertex of the upper left corner of the third rectangle are the minimum and maximum x-axis coordinates; the coordinates of the second vertex of the upper right corner of the third rectangle are the maximum and maximum x-axis coordinates; the coordinates of the third vertex of the lower left corner of the third rectangle are the minimum and minimum x-axis coordinates; and the coordinates of the fourth vertex of the lower right corner of the third rectangle are the maximum and minimum x-axis coordinates. The method for obtaining the third rectangle is the same as the method for obtaining the first rectangle in the above embodiment.

[0030] Preferably, after setting up a set of closed virtual walls on the map currently constructed by the robot according to preset restriction rules, the robot mapping restriction method further includes: updating the map with the set of closed virtual walls to the map currently constructed by the robot and saving it.

[0031] Preferably, after the robot updates and saves the map with a set of closed virtual walls, if the robot performs a relocation operation, the map with the set of closed virtual walls is reloaded as the map currently constructed by the robot after the robot successfully relocates. Specifically, this embodiment ensures that the robot's relocation does not affect the virtual walls on the map, so that the limitation on the robot's mapping area is not affected by the robot's relocation.

[0032] Preferably, the robot's navigation fails when its destination is an area outside the set of enclosed virtual walls. Here, the area outside the set of enclosed virtual walls refers to an area within the two regions divided by the set of enclosed virtual walls where the robot has not yet created a map; similarly, the area within the set of enclosed virtual walls refers to an area within the two regions divided by the set of enclosed virtual walls where the robot has created a map. Specifically, the robot's movement area is restricted to within the enclosed virtual walls, and the robot cannot reach the area outside the set of enclosed virtual walls; therefore, the robot's navigation fails.

[0033] Preferably, when the area of ​​the map currently constructed by the robot reaches a preset area threshold and a set of closed virtual walls is established on the map, if the robot is placed in an area outside the set of closed virtual walls and a relocation operation is performed, the relocation result of the robot is set as relocation failure. Specifically, to avoid the problem that users manually place the robot in an area outside the virtual walls and perform a relocation operation, thereby affecting the restriction effect of the virtual walls, the relocation result of the robot in an area outside the set of closed virtual walls is set as relocation failure.

[0034] One embodiment of the present invention provides a robot that uses a defined rectangle to establish a virtual wall to achieve mapping restrictions, and executes the robot mapping restriction method described in the above embodiment. Figure 2 The map created by the robot after the mapped area reaches a preset area threshold, such as... Figure 2 As shown, the striped area represents the map currently constructed by the robot. When the area of ​​the robot's current map reaches a preset area threshold, a first rectangle with the smallest area that can enclose the robot's current map is obtained. A translation operation of a preset distance is performed on the four vertices of the first rectangle to obtain the four vertices of a second rectangle, thereby obtaining the overall position of the second rectangle. (See reference...) Figure 2 It can be seen that the distances between the four sides of the second rectangle and the four sides of the first rectangle are fixed at preset distances. Specifically, the method of using a virtual wall to restrict robot mapping by defining a rectangle can achieve virtual wall setting with less computing resources, quickly restricting the robot's movement area and thus limiting the robot's mapping area. Since the robot can only move inside the second rectangle, the robot's mapping area is limited by the area of ​​the second rectangle. However, because the robot's LiDAR has a certain detection range, the robot's final actual mapping area can be greater than the area limited by the second rectangle.

[0035] One embodiment of the present invention provides a robot that uses a virtual wall to establish mapping constraints by proportionally enlarging the map outline, and executes the robot mapping constraint method described in the above embodiment. Figure 3The map created by the robot after the mapped area reaches a preset area threshold, such as... Figure 3 As shown, the striped area represents the map currently being built by the robot. When the area of ​​the currently built map reaches a preset area threshold, the map outline is obtained from the map. Using the center point of the currently built map as a fixed point, the map outline is enlarged proportionally according to a preset ratio to obtain a third graphic. A set of closed virtual walls is established on the boundary defined by the third graphic; wherein the center point of the third graphic coincides with the center point of the map currently built by the robot. Specifically, the method of establishing virtual walls based on proportionally enlarged map outlines to implement mapping constraints can provide more accurate virtual wall constraints according to the main route of the robot's actual map construction, reduce unnecessary map-building areas, and improve the utilization rate of the robot's limited memory.

[0036] One embodiment of the present invention provides a chip storing computational program code. This computational program code is used to execute the robot mapping constraint method described in the above embodiments. Those skilled in the art will understand that all or part of the steps in the methods described above can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a microcontroller, chip, or processor to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0037] In another embodiment of the present invention, a robot is provided, which has a main control chip inside, the main control chip being the chip described in the above embodiment, and the robot executes the robot mapping constraint method described in the above embodiment.

[0038] Obviously, the above embodiments are only some embodiments of the present invention, not all embodiments, and the technical solutions of various embodiments can be combined with each other. Furthermore, if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" appear in the embodiments, they indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. If terms such as "first," "second," and "third" appear in the embodiments, they are for the convenience of distinguishing related features, and should not be construed as indicating or implying their relative importance, order, or number of technical features.

[0039] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the invention. The scope of the invention is defined by the appended claims and their equivalents. The above descriptions are merely preferred embodiments of the invention and are not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. A robot mapping restriction method, characterized by, The robot mapping limiting method comprises: In the robot mapping process, detecting the area of the current map constructed by the robot; When the area of the current map constructed by the robot reaches a preset area threshold, a set of closed virtual walls are set up on the current map constructed by the robot according to a preset limiting rule to limit the robot mapping area; The method according to the application comprises the following steps: Obtaining the coordinates of the four vertices of a first rectangle with the minimum area capable of surrounding the current map constructed by the robot; Performing a preset distance translation operation on the four vertex coordinates of the first rectangle to obtain the four vertex coordinates of a second rectangle; Setting up a set of closed virtual walls on the boundary defined by the second rectangle; Alternatively, the method according to the application comprises the following steps: Obtaining the map contour of the current map constructed by the robot; Obtaining a coordinate point in the current map constructed by the robot as a fixed point, and performing fixed-point proportional enlargement on the map contour according to a preset proportion to obtain a third graph; Setting up a set of closed virtual walls on the boundary defined by the third graph; The third graph refers to the graph obtained by performing fixed-point proportional enlargement on the map contour according to a preset proportion; the center point of the third graph coincides with the center point of the current map constructed by the robot.

2. The robotic mapping restriction method of claim 1, wherein, The method according to the application comprises the following steps: Enumerating all coordinate points on the current map constructed by the robot; Obtaining the minimum x-axis coordinate value, the maximum x-axis coordinate value, the minimum y-axis coordinate value and the maximum y-axis coordinate value from all coordinate points on the current map constructed by the robot; Determining the coordinates of the first vertex of the upper left corner of the first rectangle as the minimum x-axis coordinate value and the maximum y-axis coordinate value; Determining the coordinates of the second vertex of the upper right corner of the first rectangle as the maximum x-axis coordinate value and the maximum y-axis coordinate value; Determining the coordinates of the third vertex of the lower left corner of the first rectangle as the minimum x-axis coordinate value and the minimum y-axis coordinate value; Determining the coordinates of the fourth vertex of the lower right corner of the first rectangle as the maximum x-axis coordinate value and the minimum y-axis coordinate value.

3. The robotic mapping restriction method of claim 2, wherein, The method according to the application comprises the following steps: Translating the y-axis coordinate of the first vertex of the upper left corner of the first rectangle upward by a preset distance to obtain the y-axis coordinate of the first vertex of the second rectangle, and translating the x-axis coordinate of the first vertex of the upper left corner of the first rectangle leftward by a preset distance to obtain the x-axis coordinate of the first vertex of the second rectangle; Translating the y-axis coordinate of the second vertex of the upper right corner of the first rectangle upward by a preset distance to obtain the y-axis coordinate of the second vertex of the second rectangle, and translating the x-axis coordinate of the second vertex of the upper right corner of the first rectangle rightward by a preset distance to obtain the x-axis coordinate of the second vertex of the second rectangle; Translate the y-axis coordinate of the third vertex of the left lower corner of the first rectangle downward by a preset distance to obtain the y-axis coordinate of the third vertex of the second rectangle, and translate the x-axis coordinate of the third vertex of the left lower corner of the first rectangle leftward by a preset distance to obtain the x-axis coordinate of the third vertex of the second rectangle; Translate the y-axis coordinate of the fourth vertex of the right lower corner of the first rectangle downward by a preset distance to obtain the y-axis coordinate of the fourth vertex of the second rectangle, and translate the x-axis coordinate of the fourth vertex of the right lower corner of the first rectangle rightward by a preset distance to obtain the x-axis coordinate of the fourth vertex of the second rectangle; Record the x-axis coordinate and the y-axis coordinate of the first vertex, the second vertex, the third vertex and the fourth vertex of the second rectangle respectively, and obtain the coordinates of the four vertices of the second rectangle.

4. The robotic mapping restriction method of claim 1, wherein, The method for obtaining a fixed point in the map currently constructed by the robot specifically comprises the following steps: Enumerate all coordinate points on the map currently constructed by the robot; Obtain the minimum value of the x-axis coordinate, the maximum value of the x-axis coordinate, the minimum value of the y-axis coordinate and the maximum value of the y-axis coordinate from all coordinate points on the map currently constructed by the robot; Obtain a third rectangle with the smallest area that can surround the map currently constructed by the robot; Determine the intersection of the two diagonal lines of the third rectangle as the center point of the third rectangle; Determine the center point of the third rectangle as the fixed point of the map currently constructed by the robot; The coordinates of the first vertex of the upper left corner of the third rectangle are the minimum value of the x-axis coordinate and the maximum value of the y-axis coordinate; the coordinates of the second vertex of the upper right corner of the third rectangle are the maximum value of the x-axis coordinate and the maximum value of the y-axis coordinate; the coordinates of the third vertex of the lower left corner of the third rectangle are the minimum value of the x-axis coordinate and the minimum value of the y-axis coordinate; and the coordinates of the fourth vertex of the lower right corner of the third rectangle are the maximum value of the x-axis coordinate and the minimum value of the y-axis coordinate.

5. The robotic mapping restriction method of claim 1, wherein, The robot mapping limiting method further comprises: when the area of the map currently constructed by the robot does not reach a preset area threshold, the robot maintains a normal mapping behavior.

6. The robotic mapping restriction method of claim 1, wherein, The robot mapping limiting method further comprises: after a set of closed virtual walls are set up on the map currently constructed by the robot according to a preset limiting rule, the robot updates the map with the set of closed virtual walls as the map currently constructed by the robot and saves it.

7. The robotic mapping restriction method of claim 6, wherein, After the robot updates and saves the map with the set of closed virtual walls, if the robot performs a repositioning operation, after the robot repositions successfully, the robot reloads the map with the set of closed virtual walls as the map currently constructed by the robot.

8. The robotic mapping restriction method of claim 1, wherein, The robot mapping limiting method further comprises: when the navigation destination of the robot is in an area outside the set of closed virtual walls, the robot fails to navigate.

9. The robotic mapping restriction method of claim 1, wherein, If the robot is placed in an area outside the set of closed virtual walls to perform a repositioning operation, the repositioning result of the robot is set as a repositioning failure.

10. A chip, internally storing computer program code, characterized in that, The computer program code is used to control the robot to perform the robot mapping limiting method of any one of claims 1-9.

11. A robot, built-in master chip, characterized in that, The master chip is the chip of claim 10. The master chip is the chip of claim 10.

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