Robot-based map detection method and device, electronic equipment and storage medium

Abstract

The application discloses a kind of robot-based map detection method, device, electronic equipment and storage medium, it is related to robot field, method includes: when arriving target point in estimated route, judge whether actual position information of robot in place meets target condition of target point;If actual position information does not meet target condition, then the position parameter of target point is corrected, or the alarm information of target point is output.Compared with prior art, the embodiment does not need technician to follow robot to judge whether point setting is reasonable in the process of map detection, and the robot can also correct the position parameter of point, so as to reduce artificial cost, also improve detection efficiency.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a robot-based map detection method, apparatus, electronic device, and storage medium. Background Technology

[0002] With the increasing prevalence of service robots, they have become an important part of services in office buildings, hotels, and other similar venues. Tasks such as cross-floor delivery and guiding guests require robots to reach specific target points within these buildings and hotels. Accurate mapping is essential for this process. Mapping involves marking target points and related information. After mapping, it's necessary to verify the accuracy of each target point, such as whether the robot can reach it and whether it functions properly once there. Currently, this verification process is typically done manually, following the robot, which is time-consuming, labor-intensive, and costly. Summary of the Invention

[0003] The main purpose of this application is to provide a robot-based map detection method, device, electronic device and storage medium, which aims to solve the technical problem that the current map detection process is usually completed by humans following robots, which is time-consuming, labor-intensive and has high labor costs.

[0004] To achieve the above objectives, this application provides a robot-based map detection method applied to robots. The robot-based map detection method includes the following steps:

[0005] Based on the target points in the detection task of the map to be detected, a predicted route is generated, and the movement is carried out in the corresponding location on the map to be detected based on the predicted route.

[0006] Upon arrival at the target location on the estimated route, it is determined whether the robot's actual location information in the location meets the target conditions of the target location.

[0007] If the actual location information does not meet the target conditions, the location parameters of the target point are corrected, or an alarm message for the target point is output.

[0008] Optionally, the actual location information includes whether there are obstacles within a preset range around the robot, the relative position of the robot in the movement path of the location, and the orientation of the robot's hatch at the target point. The target conditions include that there are no obstacles within a preset range around the robot, the robot is not located in the middle of the movement path, and the robot's hatch faces the doorway of the room.

[0009] The step of determining whether the robot's actual location information in the location meets the target conditions of the target point includes:

[0010] If the time taken for the robot to move to the target location does not match the preset estimated time, it is determined that there is an obstacle within a preset range around the robot;

[0011] If the robot is located within a preset range between the two walls of the moving road, then the robot is determined to be located in the middle of the moving road.

[0012] If the robot moves to the doorway of the room, and the door is not pointing towards the doorway, then it is determined that the door is not facing the doorway.

[0013] Optionally, the location parameters include the coordinates of the target point and the orientation angle of the door, and the step of correcting the location parameters of the target point or outputting alarm information for the target point includes:

[0014] If there are obstacles within a preset range around the robot, an alarm message for the target point is output, wherein the alarm message indicates that there are obstacles on the movement path;

[0015] If the robot's hatch is not facing the room door, then adjust the orientation angle of the hatch so that the hatch faces the room door.

[0016] If the robot is located in the middle of the moving road, the coordinate parameters of the target point are adjusted so that the robot is outside the preset middle range.

[0017] Optionally, the step of moving within the location corresponding to the map to be detected based on the estimated route includes:

[0018] If movement is terminated in the location corresponding to the map to be detected, the incomplete route is extracted from the estimated route based on the current location;

[0019] The incomplete route is assigned to other robots based on the start or end point of the incomplete route, wherein the other robots are robots that participated in the detection of the map to be detected and whose movement has not been terminated.

[0020] Optionally, the step of assigning the unfinished route to other robots based on the start or end point of the unfinished route includes:

[0021] Search for other robots that have completed the detection task based on their distance from the starting point or the ending point;

[0022] The other robot closest to the starting point or the ending point is selected as the target robot;

[0023] The incomplete route is sent to the target robot.

[0024] Optionally, the target location includes locations outside and inside the elevator, and the target condition is completing the elevator ride. The step of determining whether the robot's actual position information in the location meets the target condition of the target location after arriving at the target location on the estimated route includes:

[0025] When moving to the elevator outside the designated location, a request to board the elevator associated with the elevator outside the designated location is sent.

[0026] When the elevator arrives at the floor where the external elevator point is located, it moves to the internal elevator point, wherein the internal elevator point is located inside the elevator.

[0027] Based on the current location, monitor whether the elevator has been reached;

[0028] If the robot does not reach the designated location inside the elevator within a preset time after stopping its movement, it is determined that the robot's position does not meet the target condition for completing the elevator ride.

[0029] If, after stopping, the robot is detected to have arrived at the designated point inside the elevator within a preset time period, then the robot's position is determined to meet the target condition for completing the elevator ride.

[0030] Optionally, the step of correcting the position parameters of the target point includes:

[0031] The coordinate parameters of the external point of the elevator and / or the coordinate parameters of the internal point of the elevator are modified to increase the relative position between the external point of the elevator and the internal point of the elevator.

[0032] Furthermore, to achieve the above objectives, this application also provides a robot-based map detection device applied to a robot, wherein the robot-based map detection device includes:

[0033] The moving module is used to generate a detection prediction route based on the detection task of the map to be detected, and to move within the location corresponding to the map to be detected based on the prediction route;

[0034] The judgment module is used to determine whether the robot's actual position information in the location meets the target conditions of the target point after arriving at the target point in the estimated route.

[0035] The correction module is used to correct the position parameters of the target point or output alarm information of the target point if the actual position information does not meet the target conditions.

[0036] In addition, to achieve the above objectives, this application also provides an electronic device, which includes: a memory, a processor, and a robot-based map detection program stored in the memory and executable on the processor. When the robot-based map detection program is executed by the processor, it implements the steps of the robot-based map detection method described above.

[0037] In addition, to achieve the above objectives, this application also provides a storage medium storing a robot-based map detection program, which, when executed by a processor, implements the steps of the robot-based map detection method as described above.

[0038] This application proposes a robot-based map detection method, apparatus, electronic device, and storage medium. It generates a predicted route based on target points in a detection task on a map to be detected, and moves within the corresponding location on the map based on the predicted route. Upon reaching a target point on the predicted route, it determines whether the robot's actual position information in the location meets the target conditions of the target point. If the actual position information does not meet the target conditions, the position parameters of the target point are corrected, or an alarm message for the target point is output. In other words, during map detection, the robot determines whether the actual position information of each target point on the map meets the target conditions, i.e., whether the target point setting is reasonable. If the target conditions are not met, the position parameters of the target point are corrected, or an alarm message is output. Compared to existing solutions, this embodiment eliminates the need for technicians to follow the robot to determine the reasonableness of the point settings during map detection, and the robot can also automatically correct the position parameters of the points, thereby reducing labor costs and improving detection efficiency. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the electronic device structure of the hardware operating environment involved in the embodiments of this application;

[0040] Figure 2 This is a flowchart illustrating the first embodiment of the robot-based map detection method of this application;

[0041] Figure 3 This is a flowchart illustrating the second embodiment of the robot-based map detection method of this application;

[0042] Figure 4This is a flowchart illustrating the third embodiment of the robot-based map detection method of this application;

[0043] Figure 5 This is a schematic diagram of the robot-based map detection device in the robot-based map detection method of this application.

[0044] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0045] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0046] like Figure 1 As shown, Figure 1 This is a schematic diagram of the electronic device structure of the hardware operating environment involved in the embodiments of this application.

[0047] The electronic devices in the embodiments of this application can be mobile robots or unmanned vehicles, or electronic terminal devices such as smartphones, PCs, tablets, and portable computers.

[0048] like Figure 1 As shown, the electronic device may include: a processor 1001, such as a CPU; a network interface 1004; a user interface 1003; a memory 1005; and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0049] Optionally, the electronic device may also include a camera, RF (Radio Frequency) circuitry, sensors, audio circuitry, a WiFi module, and so on. The terminal may also be equipped with other sensors such as a gyroscope, barometer, hygrometer, thermometer, and infrared sensor, which will not be elaborated upon here. Those skilled in the art will understand that... Figure 1 The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0050] Those skilled in the art will understand that Figure 1The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0051] In addition, such as Figure 1 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a robot-based map detection program.

[0052] exist Figure 1 In the illustrated electronic device, network interface 1004 is mainly used to connect to the backend server and communicate data with it; user interface 1003 is mainly used to connect to the client (user terminal) and communicate data with it; while processor 1001 can be used to call the robot-based map detection program stored in memory 1005, apply it to the robot, and perform the following operations:

[0053] Based on the target points in the detection task of the map to be detected, a predicted route is generated, and the movement is carried out in the corresponding location on the map to be detected based on the predicted route.

[0054] Upon arrival at the target location on the estimated route, it is determined whether the robot's actual location information in the location meets the target conditions of the target location.

[0055] If the actual location information does not meet the target conditions, the location parameters of the target point are corrected, or an alarm message for the target point is output.

[0056] In one possible implementation, the processor 1001 may invoke a robot-based map detection program stored in the memory 1005, and further perform the following operations:

[0057] The actual location information includes whether there are obstacles within a preset range around the robot, the robot's relative position on the movement path of the location, and the orientation of the robot's compartment door. The target conditions include that there are no obstacles within a preset range around the robot, the robot is not located in the middle of the movement path, and the robot's compartment door faces the doorway of the room.

[0058] The step of determining whether the robot's actual location information in the location meets the target conditions of the target point includes:

[0059] If the time taken for the robot to move to the target location does not match the preset estimated time, it is determined that there is an obstacle within a preset range around the robot;

[0060] If the robot is located within a preset range between the two walls of the moving road, then the robot is determined to be located in the middle of the moving road.

[0061] If the robot moves to the doorway of the room, and the door is not pointing towards the doorway, then it is determined that the door is not facing the doorway.

[0062] In one possible implementation, the processor 1001 may invoke a robot-based map detection program stored in the memory 1005, and further perform the following operations:

[0063] The location parameters include the coordinates of the target point and the orientation angle of the warehouse door;

[0064] The steps of correcting the location parameters of the target point or outputting alarm information for the target point include:

[0065] If there are obstacles within a preset range around the robot, an alarm message for the target point is output, wherein the alarm message indicates that there are obstacles on the movement path;

[0066] If the robot's hatch is not facing the room door, then adjust the orientation angle of the hatch so that the hatch faces the room door.

[0067] If the robot is located in the middle of the moving road, the coordinate parameters of the target point are adjusted so that the robot is outside the preset middle range.

[0068] In one possible implementation, the processor 1001 may invoke a robot-based map detection program stored in the memory 1005, and further perform the following operations:

[0069] The step of moving within the location corresponding to the map to be detected based on the estimated route includes:

[0070] If movement is terminated in the location corresponding to the map to be detected, the incomplete route is extracted from the estimated route based on the current location;

[0071] The incomplete route is assigned to other robots based on the start or end point of the incomplete route, wherein the other robots are robots that participated in the detection of the map to be detected and whose movement has not been terminated.

[0072] In one possible implementation, the processor 1001 may invoke a robot-based map detection program stored in the memory 1005, and further perform the following operations:

[0073] The step of assigning the unfinished route to other robots based on the start or end point of the unfinished route includes:

[0074] Search for other robots that have completed the detection task based on their distance from the starting point or the ending point;

[0075] The other robot closest to the starting point or the ending point is selected as the target robot;

[0076] The incomplete route is sent to the target robot.

[0077] In one possible implementation, the processor 1001 may invoke a robot-based map detection program stored in the memory 1005, and further perform the following operations:

[0078] The target locations include locations outside the elevator and locations inside the elevator, and the target condition is to complete the elevator ride.

[0079] The step of determining whether the robot's actual position information in the location meets the target conditions of the target point after arriving at the target point in the estimated route includes:

[0080] When moving to the elevator outside the designated location, a request to board the elevator associated with the elevator outside the designated location is sent.

[0081] When the elevator arrives at the floor where the external elevator point is located, it moves to the internal elevator point, wherein the internal elevator point is located inside the elevator.

[0082] Based on the current location, monitor whether the elevator has been reached;

[0083] If the robot does not reach the designated location inside the elevator within a preset time after stopping its movement, it is determined that the robot's position does not meet the target condition for completing the elevator ride.

[0084] If, after stopping, the robot is detected to have arrived at the designated point inside the elevator within a preset time period, then the robot's position is determined to meet the target condition for completing the elevator ride.

[0085] In one possible implementation, the processor 1001 may invoke a robot-based map detection program stored in the memory 1005, and further perform the following operations:

[0086] The step of correcting the position parameters of the target point includes:

[0087] The coordinate parameters of the external point of the elevator and / or the coordinate parameters of the internal point of the elevator are modified to increase the relative position between the external point of the elevator and the internal point of the elevator.

[0088] Reference Figure 2 The first embodiment of the robot-based map detection method of this application is applied to a robot, and the robot-based map detection method includes steps S10-S30:

[0089] Step S10: Generate a predicted route based on the target points in the detection task of the map to be detected, and move within the corresponding location on the map to be detected based on the predicted route.

[0090] It should be noted that the aforementioned map detection method can be applied to robots or unmanned vehicles, while this application involves a robot automatically completing the map detection task without the need for human intervention, thereby reducing labor costs and improving detection efficiency. The map to be detected is typically constructed based on the location where the robot operates, such as hotels, industrial parks, and entertainment venues. For example, the robot constructs a corresponding map of the location based on the SLAM (Simultaneous Localization and Mapping) algorithm. The detection of the map can be performed by one robot or by multiple robots simultaneously. In a scenario with one robot, the detection task can cover the entire area of ​​the map. In a scenario with multiple robots operating simultaneously, the detection task can cover a portion of the map. For example, in a map with multiple floors, the detection task can cover one or more floors; correspondingly, different robots are assigned different areas. The detection task essentially involves detecting each target point within the assigned map area. Accordingly, the actual process of generating a predicted route based on the detection task is to plan a predicted route that traverses each target point in the map area with the shortest travel distance. The robot can reach each target point by moving along the predicted route, and then the robot moves according to the predicted route.

[0091] It should also be noted that once the estimated route planning is completed, the power required to complete the detection task can be determined based on the estimated route, and a charging prompt message will be output when the battery power is less than the required power.

[0092] Furthermore, preliminary matching verification can be performed before the robot moves within the location. For example, prior to the step of generating a predicted route for target points in the detection task based on the map to be detected, and moving within the location corresponding to the map to be detected based on the predicted route, the robot-based map detection method of this application includes:

[0093] The system receives a map to be tested sent by a host computer. The map to be tested is sent after the host computer performs preliminary matching and verification. The preliminary matching and verification includes: the host computer searches for target points in the map to be tested based on the target point configuration file and performs matching and verification. If all target points pass the matching and verification, the map to be tested is sent to the robot. If there are target points that fail the matching and verification, the target points that fail the matching and verification are output. After the target points that fail the matching and verification are corrected, the system returns to the step of the host computer searching for target points in the map to be tested based on the target point configuration file and performing matching and verification. The configuration file includes the coordinate parameters and name of the target point. The step of the host computer searching for the target point in the map to be tested based on the configuration file and performing matching verification includes: if the host computer cannot find the target point in the map to be tested based on the coordinate parameters, or if the name of the searched target point does not match, then the target point matching verification is deemed unqualified; if the host computer finds the target point in the map to be tested based on the coordinate parameters and the name of the searched target point matches, then the target point matching verification is deemed qualified.

[0094] Understandably, the preliminary matching verification is used to check whether each target point is legal, that is, whether it accurately exists in the map, and the preliminary matching verification process does not require the robot to move.

[0095] Step S20: After arriving at the target point in the estimated route, determine whether the robot's actual position information in the location meets the target conditions of the target point.

[0096] For example, after moving along a predicted route and arriving at a target location, the robot determines whether its actual position in the environment meets the target conditions of that location. It is understandable that due to different working scenarios and areas, the functions the robot needs to perform at different target locations will vary. Correspondingly, different target conditions can be set for different functions. Technicians can set specific target conditions and the types of actual position information according to actual needs. For instance, in a hotel delivery scenario, the target location should be set near the room door for easy access for users.

[0097] In one feasible implementation, the actual location information includes whether there are obstacles within a preset range around the robot, the robot's relative position on the movement path in the location, and the orientation of the robot's hatch at the target point. The target conditions include that there are no obstacles within the preset range around the robot, the robot is not located in the middle of the movement path, and the robot's hatch faces the doorway of the room. Step S20, determining whether the robot's actual location information in the location meets the target conditions of the target point, includes steps S21-S23:

[0098] Step S21: If the time taken for the robot to move to the target point does not match the preset estimated time, it is determined that there is an obstacle within a preset range around the robot.

[0099] Step S22: If the robot is located within a preset range between the two walls of the moving road, then it is determined that the robot is located in the middle position of the moving road.

[0100] Step S23: If the robot moves to the doorway of the room and the door does not point towards the doorway, then it is determined that the door does not face the doorway.

[0101] It should be noted that, for the item delivery function, the actual location information includes whether there are obstacles within a preset range around the robot, the robot's relative position on the movement path within the location, and the orientation of the robot's compartment door at the target point. Target conditions include the absence of obstacles within the preset range around the robot, the robot not being located in the middle of the movement path, and the robot's compartment door facing the room entrance. This actual location information is obtained after the robot moves to the target point and is used to determine whether the robot can perform the corresponding function or can easily perform the corresponding function at the target point.

[0102] For example, after the robot moves to the target point, it is determined whether the time spent moving to the target point matches the preset estimated time. Taking the distance from the previous target point to the current target point as an example, the distance from the previous target point to the current target point is determined during the planning process, and the moving speed is also determined. Therefore, the time spent on this distance is also determined, which is the preset estimated time. If there are no obstacles during the movement, the time spent moving to the target point should match the preset estimated time (i.e., the same or similar, meaning the difference between the two is less than a preset difference threshold). Conversely, if they do not match, it is considered that there are obstacles in this distance, that is, it is determined that there are obstacles within a preset range around the robot.

[0103] After moving to the target location, the robot can determine whether it is within the preset middle range of the moving road based on the distance between one or both walls of the moving road. It is understandable that in a delivery scenario, after the robot arrives at the delivery point, i.e., the target location, it may need to wait for the user to pick up the item. Therefore, if the robot remains in the middle of the moving road for an extended period, it may cause obstruction. Thus, the target location should not be set near the middle of the road. The robot can determine its distance from the walls using laser ranging. If there are walls on both sides of the road, it can determine whether it is in the middle position based on the distance between itself and both walls. The preset middle range of the moving road can be obtained by taking the middle position of the moving road ± a preset distance range constant. If the robot determines that it is within this preset middle range, it is considered to be in the middle of the moving road; otherwise, it is not. If there is a wall on one side, it can determine whether it is in the middle of the moving road based on prior information and the distance to that wall. The prior information can be the width of the moving road.

[0104] After moving to the target location, the robot can identify the position of the room door. Specifically, it can scan the surrounding environment with radar and then identify the door's position based on the scanned structural features of the room door. The robot's storage compartment door is the user's entry point for retrieving items, and to facilitate user access, the door should face the room door. The robot can determine whether its storage compartment door opening points towards the doorway. If the door opening does not point towards the doorway, it can be determined that the door is not facing the room door; conversely, if the door opening points towards the doorway, it can be determined that the door is facing the room door.

[0105] Step S30: If the actual location information does not meet the target conditions, then the location parameters of the target point are corrected, or an alarm message for the target point is output.

[0106] For example, if the actual location information does not meet the target conditions, the robot can adjust and correct the position parameters of the target point, such as modifying the coordinates of the target point, so that the target point meets the conditions for realizing the corresponding robot function, or facilitates the robot to realize the corresponding function. Alternatively, an alarm message indicating that the actual location information of the target point does not meet the target conditions can be output and then handled by relevant personnel.

[0107] In one feasible implementation, the position parameters include the coordinates of the target point and the orientation angle of the door. Step S30, which involves correcting the position parameters of the target point or outputting alarm information for the target point, includes steps S31-S33:

[0108] Step S31: If there are obstacles within a preset range around the robot, then output alarm information for the target point, wherein the alarm information indicates that there are obstacles on the movement path.

[0109] Step S32: If the robot's compartment door is not facing the room door, then adjust the orientation angle of the compartment door so that the compartment door faces the room door.

[0110] Step S33: If the robot is located in the middle of the moving road, then the coordinate parameters of the target point are corrected so that the robot is outside the preset middle range.

[0111] It should be noted that the location parameters include the coordinates of the target point and the orientation angle of the warehouse door.

[0112] For example, if an obstacle is detected within a preset range around the robot, an alarm message indicating an obstacle exists on the robot's movement path can be output, notifying relevant personnel to clear or move the obstacle. If the robot's door is not facing the room door at the target point, the door's orientation angle (i.e., orientation) is adjusted so that the door faces the room door, meaning the door's opening direction points towards the room door. If the target point is located in the middle of the movement path, the target point's coordinate parameters are adjusted so that the robot is outside the preset middle range. This allows the robot to move closer to the roadside while waiting at the target point, typically choosing the side of the roadside where the door faces.

[0113] In addition, after the robot has tested all target points, it returns to the initial point. If multiple robots are used for testing, after the tests are completed, the test reports of all robots are integrated and the test results of the map to be tested are output.

[0114] In this embodiment, a predicted route is generated based on the target points in the detection task of the map to be detected, and the robot moves within the corresponding location on the map based on the predicted route. Upon reaching the target point on the predicted route, it is determined whether the robot's actual position information in the location meets the target conditions of the target point. If the actual position information does not meet the target conditions, the position parameters of the target point are corrected, or an alarm message for the target point is output. That is, when detecting the map, the robot determines whether the actual position information of each target point on the map meets the target conditions of the point, i.e., whether the target point setting is reasonable, and if the target conditions are not met, the position parameters of the target point are corrected, or an alarm message is output. Compared with existing solutions, this embodiment eliminates the need for technicians to follow the robot to determine whether the point setting is reasonable during map detection, and the robot can also correct the position parameters of the points on its own, thereby reducing labor costs and improving detection efficiency.

[0115] Reference Figure 3 Based on the first embodiment of this application, a second embodiment of this application is proposed. Step S10, which involves moving within the location corresponding to the map to be detected based on the estimated route, includes steps A10-A20:

[0116] Step A10: If movement in the location corresponding to the map to be detected is terminated, then the incomplete route is extracted from the estimated route based on the current location.

[0117] Step A20: Assign the incomplete route to other robots based on the start or end point of the incomplete route, wherein the other robots are robots that participated in the detection of the map to be detected and whose movement has not been terminated.

[0118] It should be noted that the robot's movement in the corresponding location on the map may be terminated for various reasons, such as insufficient power, robot malfunction, or map errors (the map itself needs to be tested, so there is a high probability of errors). In other words, the robot cannot continue to complete the detection task. At this time, the remaining tasks can be taken over by other robots.

[0119] For example, the robot can extract the incomplete route from the estimated route based on its current position. For instance, the starting point of the incomplete route can be the previous target point of the robot's current position (to facilitate the calculation of the time spent in the movement process). If the robot has already reached target point 1 and the journey between target point 1 and target point 2 ends, then the previous target point is target point 1.

[0120] The unfinished routes are then assigned to other robots to complete the testing of the unfinished routes. These other robots are those that are participating in the detection of the map to be tested (such as robots responsible for other area detection tasks) and whose movement has not been terminated (the robots are functioning normally). The assignment can be based on the start or end point of the unfinished route.

[0121] In one feasible implementation, step A20, which assigns the incomplete route to other robots based on the start or end point of the incomplete route, includes steps A21-A23:

[0122] Step A21: Search for other robots that have completed the detection task based on the distance to the starting point or the ending point.

[0123] Step A22: Select the other robot closest to the starting point or the ending point as the target robot.

[0124] Step A23: Send the incomplete route to the target robot.

[0125] For example, other robots can be searched based on their distance from the starting point and the distance from the ending point. The robot closest to the starting point or the ending point is selected as the target robot. For instance, robot A, which is closest to the starting point at a distance of 'a', can be searched, and robot B, which is closest to the ending point at a distance of 'b' (robots A and B can be the same robot). The distances 'a' and 'b' are compared, and the robot with the smallest distance is selected as the target robot. The incomplete route is then sent to the target robot. Furthermore, if the target robot is determined based on the ending point (e.g., robot B in the above example), the starting point and ending point of the incomplete route are swapped. For example, after transforming the initial starting point (target point A) and ending point (target point B) of the incomplete route, the final starting point of the incomplete route becomes target point B, and the ending point becomes target point A, thus facilitating the target robot's execution of the incomplete route detection task.

[0126] It is understood that in this embodiment, when a robot is unable to complete a detection task, the unfinished task can be handed over to another robot to complete it, thereby enhancing the robustness of automated map detection.

[0127] Reference Figure 4 Based on the first and second embodiments of this application, a third embodiment of this application is proposed. The target location includes an external location and an internal location, and the target condition is to complete the elevator ride. In step S20, after arriving at the target location in the estimated route, it is determined whether the robot's actual position information in the location meets the target condition of the target location, including steps B21-B25:

[0128] Step B21: When moving to the elevator outside the designated location, send an elevator request to the elevator associated with the elevator outside the designated location.

[0129] Step B22: After the elevator arrives at the floor where the external elevator point is located, it moves to the internal elevator point, wherein the internal elevator point is located inside the elevator.

[0130] Step B23: Based on the current location, monitor whether the elevator has been reached.

[0131] Step B24: If the robot does not reach the designated location inside the elevator within a preset time after stopping its movement, it is determined that the robot's position does not meet the target condition for completing the elevator ride.

[0132] Step B25: If, after stopping, the robot is detected to have reached the point inside the elevator within a preset time, then the robot's position is determined to meet the target condition for completing the elevator ride.

[0133] It should be noted that, in this embodiment, for the scenario of a robot taking an elevator, target points are detected. These target points include points outside the elevator and points inside the elevator. Points outside the elevator typically refer to the points where the robot waits to take the elevator, while points inside the elevator refer to the points where the robot takes the elevator. The corresponding actual position information includes the relative positions between the points outside and inside the elevator, and the target condition is completing the elevator taking action.

[0134] For example, when the robot moves to an external elevator location, it sends an elevator request to the elevator associated with that location. Upon receiving the request, the elevator moves to the robot's floor and sends arrival information. The robot, upon receiving this information, determines that the elevator has arrived at the floor of the external elevator location. The robot then moves to an internal elevator location and monitors whether it has reached that location based on its current position. For instance, it compares the coordinates of its current position with those of the internal elevator location in real time, and also compares them with those of the external elevator location. Typically, the robot determines the closest location to the current location's coordinates. However, the limited space inside the elevator may restrict the robot's movement, preventing it from determining if it has reached an internal elevator location (i.e., failing to detect arrival at an internal elevator location within a preset time after stopping). Conversely, if arrival at an internal elevator location is detected within a preset time after stopping, the robot is deemed to have met the target conditions for completing the elevator ride.

[0135] In one feasible implementation, the correction of the position parameters of the target point in step S30 includes step B31:

[0136] Step B31: Correct the coordinate parameters of the external point of the elevator and / or the coordinate parameters of the internal point of the elevator to increase the relative position between the external point of the elevator and the internal point of the elevator.

[0137] For example, also for the robot riding an elevator scenario, the coordinate parameters of the points outside the elevator and / or the coordinate parameters of the points inside the elevator can be adjusted to increase the relative position between the points outside the elevator and the points inside the elevator, so that the robot can distinguish between the points outside the elevator and the points inside the elevator.

[0138] In addition, it should be noted that after increasing the relative position, it is necessary to determine whether the degree of increase meets the target condition for completing the elevator ride action. Therefore, it can move to the elevator outside the elevator position again and return to execute the step of sending an elevator ride request to the elevator associated with the elevator outside the elevator position and subsequent steps.

[0139] Please see Figure 5 Furthermore, this application also provides a robot-based map detection device 100, applied to a robot, the robot-based map detection device 100 comprising:

[0140] The mobile module 10 is used to generate a detection prediction route based on the detection task of the map to be detected, and move within the location corresponding to the map to be detected based on the prediction route.

[0141] The judgment module 20 is used to determine whether the actual position information of the robot in the location meets the target conditions of the target point after arriving at the target point in the estimated route.

[0142] The correction module 30 is used to correct the position parameters of the target point or output alarm information of the target point if the actual position information does not meet the target conditions.

[0143] Optionally, the actual location information includes whether there are obstacles within a preset range around the robot, the robot's relative position on the movement path in the location, and the orientation of the robot's hatch at the target point. The target conditions include that there are no obstacles within the preset range around the robot, the robot is not located in the middle of the movement path, and the robot's hatch faces the room door. The judgment module 20 is further used for:

[0144] If the time taken for the robot to move to the target location does not match the preset estimated time, it is determined that there is an obstacle within a preset range around the robot;

[0145] If the robot is located within a preset range between the two walls of the moving road, then the robot is determined to be located in the middle of the moving road.

[0146] If the robot moves to the doorway of the room, and the door is not pointing towards the doorway, then it is determined that the door is not facing the doorway.

[0147] Optionally, the position parameters include the coordinates of the target point and the orientation angle of the door; the correction module 30 is further configured to:

[0148] If there are obstacles within a preset range around the robot, an alarm message for the target point is output, wherein the alarm message indicates that there are obstacles on the movement path;

[0149] If the robot's hatch is not facing the room door, then adjust the orientation angle of the hatch so that the hatch faces the room door.

[0150] If the robot is located in the middle of the moving road, the coordinate parameters of the target point are adjusted so that the robot is outside the preset middle range.

[0151] Optionally, the robot-based map detection device 100 further includes a synchronization module 40, which is used for:

[0152] If movement is terminated in the location corresponding to the map to be detected, the incomplete route is extracted from the estimated route based on the current location;

[0153] The incomplete route is assigned to other robots based on the start or end point of the incomplete route, wherein the other robots are robots that participated in the detection of the map to be detected and whose movement has not been terminated.

[0154] Optionally, the synchronization module 40 is used for:

[0155] Search for other robots that have completed the detection task based on their distance from the starting point or the ending point;

[0156] The other robot closest to the starting point or the ending point is selected as the target robot;

[0157] The incomplete route is sent to the target robot.

[0158] Optionally, the target location includes an external elevator location and an internal elevator location, the actual location information includes the relative position between the external elevator location and the internal elevator location, the target condition is completing the elevator ride, and the judgment module 20 is further used for:

[0159] When moving to the elevator outside the designated location, a request to board the elevator associated with the elevator outside the designated location is sent.

[0160] When the elevator arrives at the floor where the external elevator point is located, it moves to the internal elevator point, wherein the internal elevator point is located inside the elevator.

[0161] Based on the current location, monitor whether the elevator has been reached;

[0162] If the robot does not reach the designated location inside the elevator within a preset time after stopping its movement, it is determined that the robot's position does not meet the target condition for completing the elevator ride.

[0163] If, after stopping, the robot is detected to have arrived at the designated point inside the elevator within a preset time period, then the robot's position is determined to meet the target condition for completing the elevator ride.

[0164] Optionally, the correction module 30 is further configured to:

[0165] The coordinate parameters of the external point of the elevator and / or the coordinate parameters of the internal point of the elevator are modified to increase the relative position between the external point of the elevator and the internal point of the elevator.

[0166] The robot-based map detection device provided in this application employs the robot-based map detection method described in the above embodiments, aiming to solve the technical problem that map detection is usually completed manually following a robot, which is time-consuming, labor-intensive, and costly. Compared with the prior art, the beneficial effects of the robot-based map detection device provided in this application are the same as those of the robot-based map detection method provided in the above embodiments, and other technical features in this robot-based map detection device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0167] In addition, to achieve the above objectives, this application also provides an electronic device, which includes: a memory, a processor, and a robot-based map detection program stored in the memory and executable on the processor. When the robot-based map detection program is executed by the processor, it implements the steps of the robot-based map detection method as described above.

[0168] The specific implementation of the electronic device in this application is basically the same as the embodiments of the robot-based map detection method described above, and will not be repeated here.

[0169] In addition, to achieve the above objectives, this application also provides a storage medium storing a robot-based map detection program, which, when executed by a processor, implements the steps of the robot-based map detection method described above.

[0170] The specific implementation of the storage medium in this application is basically the same as the embodiments of the robot-based map detection method described above, and will not be repeated here.

[0171] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0172] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0173] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, robot, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0174] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A robot-based map detection method, characterized in that, Applied to robots, the robot-based map detection method includes the following steps: Based on the target points in the detection task of the map to be detected, a predicted route is generated, and the movement is carried out in the corresponding location on the map to be detected based on the predicted route. Upon arrival at the target location on the estimated route, it is determined whether the robot's actual location information in the location meets the target conditions of the target location. If the actual location information does not meet the target conditions, the location parameters of the target point are corrected, or an alarm message for the target point is output. The actual location information includes whether there are obstacles within a preset range around the robot, the robot's relative position on the movement path of the location, and the orientation of the robot's compartment door. The target conditions include that there are no obstacles within a preset range around the robot, the robot is not located in the middle of the movement path, and the robot's compartment door faces the doorway of the room. The step of determining whether the robot's actual location information in the location meets the target conditions of the target point includes: If the time taken for the robot to move to the target location does not match the preset estimated time, it is determined that there is an obstacle within a preset range around the robot; If the robot is located within a preset range between the two walls of the moving road, then the robot is determined to be located in the middle of the moving road. If the robot moves to the doorway of the room, and the door is not pointing towards the doorway, then it is determined that the door is not facing the doorway.

2. The robot-based map detection method as described in claim 1, characterized in that, The location parameters include the coordinates of the target point and the orientation angle of the warehouse door; The steps of correcting the location parameters of the target point or outputting alarm information for the target point include: If there are obstacles within a preset range around the robot, an alarm message for the target point is output, wherein the alarm message indicates that there are obstacles on the movement path; If the robot's hatch is not facing the room door, then adjust the orientation angle of the hatch so that the hatch faces the room door; If the robot is located in the middle of the moving road, the coordinate parameters of the target point are adjusted so that the robot is outside the preset middle range.

3. The robot-based map detection method as described in claim 1, characterized in that, The step of moving within the location corresponding to the map to be detected based on the estimated route includes: If movement is terminated in the location corresponding to the map to be detected, the incomplete route is extracted from the estimated route based on the current location; The incomplete route is assigned to other robots based on the start or end point of the incomplete route, wherein the other robots are robots that participated in the detection of the map to be detected and whose movement has not been terminated.

4. The robot-based map detection method as described in claim 3, characterized in that, The step of assigning the unfinished route to other robots based on the start or end point of the unfinished route includes: Search for other robots that have completed the detection task based on their distance from the starting point or the ending point; The other robot closest to the starting point or the ending point is selected as the target robot; The incomplete route is sent to the target robot.

5. The robot-based map detection method as described in any one of claims 1-4, characterized in that, The target locations include locations outside the elevator and locations inside the elevator, and the target condition is to complete the elevator ride. The step of determining whether the robot's actual position information in the location meets the target conditions of the target point after arriving at the target point in the estimated route includes: When moving to the elevator outside the designated location, a request to board the elevator associated with the elevator outside the designated location is sent. When the elevator arrives at the floor where the external elevator point is located, it moves to the internal elevator point, wherein the internal elevator point is located inside the elevator. Based on the current location, monitor whether the elevator has been reached; If the robot does not reach the designated location inside the elevator within a preset time after stopping its movement, it is determined that the robot's position does not meet the target condition for completing the elevator ride. If, after stopping, the robot is detected to have arrived at the designated point inside the elevator within a preset time period, then the robot's position is determined to meet the target condition for completing the elevator ride.

6. The robot-based map detection method as described in claim 5, characterized in that, The step of correcting the position parameters of the target point includes: The coordinate parameters of the external point of the elevator and / or the coordinate parameters of the internal point of the elevator are modified to increase the relative position between the external point of the elevator and the internal point of the elevator.

7. A robot-based map detection device, characterized in that, For use in robots, the robot-based map detection device includes: The moving module is used to generate a detection prediction route based on the detection task of the map to be detected, and to move within the location corresponding to the map to be detected based on the prediction route; The judgment module is used to determine whether the robot's actual position information in the location meets the target conditions of the target point after arriving at the target point in the estimated route. The correction module is used to correct the position parameters of the target point or output alarm information of the target point if the actual position information does not meet the target conditions. The actual location information includes whether there are obstacles within a preset range around the robot, the robot's relative position on the movement path of the location, and the orientation of the robot's compartment door. The target conditions include that there are no obstacles within a preset range around the robot, the robot is not located in the middle of the movement path, and the robot's compartment door faces the doorway of the room. The judgment module is also used for: If the time taken for the robot to move to the target location does not match the preset estimated time, it is determined that there is an obstacle within a preset range around the robot; If the robot is located within a preset range between the two walls of the moving road, then the robot is determined to be located in the middle of the moving road. If the robot moves to the doorway of the room, and the door is not pointing towards the doorway, then it is determined that the door is not facing the doorway.

8. An electronic device, characterized in that, The electronic device includes: a memory, a processor, and a robot-based map detection program stored in the memory and executable on the processor, wherein the robot-based map detection program, when executed by the processor, implements the steps of the robot-based map detection method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium stores a robot-based map detection program, which, when executed by a processor, implements the steps of the robot-based map detection method as described in any one of claims 1 to 6.

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