Area exploration method and device, storage medium and electronic device

Abstract

The application provides a region exploration method and device, a storage medium and an electronic device. The method comprises the following steps: determining a group of first exploration points in a target grid map, wherein each first exploration point in the group of first exploration points is a position point in the target grid map, and a target robot is allowed to explore a region; selecting a target exploration point from the group of first exploration points, wherein there is no obstacle point representing an obstacle position in a grid unit adjacent to the target exploration point; and controlling the target robot to move to the target exploration point to explore the target grid map. By using the technical solution, the problem that the region exploration method in the related art has low region exploration efficiency due to unreasonable selection of exploration points is solved.

Description

[Technical Field]

[0001] This application relates to the field of smart homes, and more specifically, to a method and apparatus for exploring a region, a storage medium, and an electronic device. [Background Technology]

[0002] Currently, robots can use sensing sensors, such as LDS (Laser Direct Structuring) sensors, to explore unknown areas, thus enabling them to perform tasks such as indoor cleaning.

[0003] Currently, when exploring unknown areas, multiple exploration points may exist. Robots typically select one randomly from these points and explore the area based on that selection. However, the randomly selected exploration point may be unreachable, requiring the robot to select a new one, leading to inefficient area exploration.

[0004] Therefore, it can be seen that the regional exploration methods in related technologies suffer from low efficiency due to unreasonable selection of exploration points. [Summary of the Invention]

[0005] The purpose of this application is to provide a method and apparatus for exploring a region, a storage medium, and an electronic device, so as to at least solve the problem of low efficiency in region exploration caused by unreasonable selection of exploration points in related technologies.

[0006] The purpose of this application is to achieve the following technical solution:

[0007] According to one aspect of the embodiments of this application, a method for exploring a region is provided, comprising: determining a set of first exploration points in a target grid map, wherein each of the first exploration points in the set of first exploration points is a location point in the target grid map that allows a target robot to explore the region; selecting a target exploration point from the set of first exploration points, wherein there are no obstacle points indicating the location of obstacles in the grid cells adjacent to the target exploration point; and controlling the target robot to move towards the target exploration point to explore the region of the target grid map.

[0008] In an exemplary embodiment, determining a set of first exploration points in a target grid map includes: determining an explored area of ​​the target grid map, wherein the explored area is an area in the target grid map that has been explored; determining a set of candidate points from the first target area, wherein the first target area is an area with the current position of the target robot as the center and a preset radius as the radius; selecting candidate points that meet the exploration point selection criteria from the set of candidate points to obtain the set of first exploration points, wherein the exploration point selection criteria include at least one of the following: belonging to the explored area and having a minimum distance to the boundary of the explored area that is less than or equal to a first distance threshold; or belonging to an area to be explored in the target grid map other than the explored area and having a minimum distance to the boundary of the explored area that is greater than or equal to a second distance threshold.

[0009] In an exemplary embodiment, determining a set of candidate points from the first target area includes: determining a location point located on the boundary of the first target area, belonging to the explored area, and allowing the target robot to move to, as a first candidate point; and determining a location point within the first target area, belonging to the area to be explored, and being the farthest location point perceived by the target robot's sensing sensor along a preset direction, as a second candidate point; wherein the set of candidate points includes the first candidate point and the second candidate point.

[0010] In an exemplary embodiment, selecting a target exploration point from the set of first exploration points includes: selecting first exploration points from the set of first exploration points that do not have obstacle points representing obstacle locations in adjacent grid cells to obtain a set of second exploration points; selecting the target exploration point from the set of second exploration points according to the positional relationship between the set of second exploration points and the area to be explored in the target grid map, wherein the area to be explored is the area in the target grid map to be explored.

[0011] In an exemplary embodiment, selecting the target exploration point from the set of second exploration points based on the positional relationship between the set of second exploration points and the area to be explored in the target grid map includes: determining exploration reference information corresponding to each of the set of second exploration points, wherein the exploration reference information is used to indicate the number of grid cells belonging to the area to be explored in the second target area centered on each second exploration point; and selecting the target exploration point from the set of second exploration points based on the exploration reference information corresponding to each second exploration point.

[0012] In an exemplary embodiment, selecting the target exploration point from the set of second exploration points based on the exploration reference information corresponding to each second exploration point includes: determining the maximum number among the quantities indicated by the exploration reference information corresponding to each second exploration point; and determining the second exploration point corresponding to the maximum number as the target exploration point when there is only one second exploration point corresponding to the maximum number.

[0013] In one exemplary embodiment, the step of selecting the target exploration point from the set of second exploration points based on the exploration reference information corresponding to each second exploration point further includes: when there are multiple second exploration points corresponding to the maximum number, selecting the second exploration point closest to the target robot from the multiple second exploration points corresponding to the maximum number to obtain the target exploration point.

[0014] In an exemplary embodiment, before selecting a target exploration point from the set of first exploration points, the method further includes: using a perception sensor on the target robot to collect point cloud data for each of the set of first exploration points to obtain point cloud data corresponding to each of the first exploration points; and determining obstacle points in grid cells adjacent to each of the first exploration points by projecting the point cloud data corresponding to each of the first exploration points onto the target grid map.

[0015] According to another aspect of the embodiments of this application, a region exploration device is also provided, comprising: a first determining unit, configured to determine a set of first exploration points in a target grid map, wherein each of the first exploration points in the set of first exploration points is a location point in the target grid map that allows a target robot to explore the region; a selecting unit, configured to select a target exploration point from the set of first exploration points, wherein there are no obstacle points indicating the location of obstacles in the grid cells adjacent to the target exploration point; and a control unit, configured to control the target robot to move toward the target exploration point to explore the region of the target grid map.

[0016] In an exemplary embodiment, the first determining unit includes: a first determining module, configured to determine an explored area of ​​the target grid map, wherein the explored area is an area in the target grid map that has been explored; a second determining module, configured to determine a set of candidate points from a first target area, wherein the first target area is an area with the current position of the target robot as the center and a preset radius as the radius; and a first selecting module, configured to select candidate points that meet the exploration point selection conditions from the set of candidate points to obtain the set of first exploration points, wherein the exploration point selection conditions include at least one of the following: belonging to the explored area and having a minimum distance to the boundary of the explored area that is less than or equal to a first distance threshold; or belonging to an area to be explored in the target grid map other than the explored area and having a minimum distance to the boundary of the explored area that is greater than or equal to a second distance threshold.

[0017] In one exemplary embodiment, the second determining module includes:

[0018] The first determining submodule is used to determine a location point located on the boundary of the first target area, belonging to the explored area, and allowing the target robot to move to, as a first candidate point; the second determining submodule is used to determine a location point within the first target area, belonging to the area to be explored, and being the farthest location point perceived by the target robot's sensing sensor along a preset direction, as a second candidate point; wherein, the set of candidate points includes the first candidate point and the second candidate point.

[0019] In an exemplary embodiment, the selection unit includes: a second selection module, configured to select first exploration points from the set of first exploration points that do not have obstacle points representing obstacle locations in adjacent grid cells, thereby obtaining a set of second exploration points; and a third selection module, configured to select the target exploration point from the set of second exploration points based on the positional relationship between the set of second exploration points and the area to be explored in the target grid map, wherein the area to be explored is the area in the target grid map to be explored.

[0020] In an exemplary embodiment, the third selection module includes: a third determining submodule, configured to determine exploration reference information corresponding to each of the set of second exploration points, wherein the exploration reference information is used to indicate the number of grid cells belonging to the area to be explored in the second target area centered on each of the second exploration points; and a selection submodule, configured to select the target exploration point from the set of second exploration points according to the exploration reference information corresponding to each of the second exploration points.

[0021] In an exemplary embodiment, the selection submodule includes: a first determining subunit, configured to determine the maximum number among the quantities indicated by the exploration reference information corresponding to each second exploration point; and a second determining subunit, configured to determine the second exploration point corresponding to the maximum number as the target exploration point when there is only one second exploration point corresponding to the maximum number.

[0022] In one exemplary embodiment, the selection submodule further includes: a selection subunit, configured to select, when there are multiple second exploration points corresponding to the maximum number, the second exploration point closest to the target robot from the multiple second exploration points corresponding to the maximum number, thereby obtaining the target exploration point.

[0023] In one exemplary embodiment, the apparatus further includes: a data acquisition unit, configured to acquire point cloud data of each of the first exploration points in the set of first exploration points using a perception sensor on the target robot before selecting a target exploration point from the set of first exploration points, thereby obtaining point cloud data corresponding to each of the first exploration points; and a second determination unit, configured to determine obstacle points in grid cells adjacent to each of the first exploration points by projecting the point cloud data corresponding to each of the first exploration points onto the target grid map.

[0024] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer program, which is configured to execute the exploration method of the above-mentioned region when running.

[0025] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the exploration method of the aforementioned region through the computer program.

[0026] In this embodiment, an exploration point selection method based on neighborhood information is adopted. A set of first exploration points in the target grid map is determined, where each first exploration point is a location point in the target grid map where the target robot is allowed to explore the area. A target exploration point is selected from the set of first exploration points, wherein there are no obstacle points representing obstacle locations in the grid cells adjacent to the target exploration point. The target robot is controlled to move towards the target exploration point to explore the target grid map. Since multiple candidate exploration points (i.e., a set of first exploration points) are determined, the exploration point is selected based on the neighborhood information of each candidate exploration point. For example, selecting adjacent grid cells that do not contain obstacle points (i.e., points corresponding to obstacles) can reduce the unreachability of exploration points due to obstacle occlusion. This improves the rationality of exploration point selection and enhances the efficiency of area exploration, thereby solving the problem of low efficiency in area exploration methods due to unreasonable exploration point selection in related technologies. [Attached Image Description]

[0027] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the hardware environment for an optional region exploration method according to an embodiment of this application;

[0030] Figure 2 This is a flowchart illustrating an optional region exploration method according to an embodiment of this application;

[0031] Figure 3 This is a flowchart illustrating another optional region exploration method according to an embodiment of this application;

[0032] Figure 4 This is a structural block diagram of an optional area exploration device according to an embodiment of this application;

[0033] Figure 5 This is a structural block diagram of an optional electronic device according to an embodiment of this application.

Detailed Implementation Methods

[0034] The present application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the present application can be combined with each other.

[0035] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0036] According to one aspect of the embodiments of this application, a method for exploring a region is provided. Optionally, in this embodiment, the above-described method for exploring a region can be applied to, for example... Figure 1 The hardware environment shown consists of robot 102, base station 104, and cloud platform 106. For example... Figure 1 As shown, robot 102 can connect to base station 104 and / or cloud platform 106 (e.g., voice cloud platform) via a network to enable interaction between robot 102 and base station 104 and / or cloud platform 106.

[0037] The aforementioned network may include, but is not limited to, at least one of the following: wired network, wireless network. The aforementioned wired network may include, but is not limited to, at least one of the following: wide area network (WAN), metropolitan area network (MAN), local area network (LAN). The aforementioned wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity), Bluetooth, infrared. The network used by robot 102 to communicate with base station 104 and / or cloud platform 106 may be the same as or different from the network used by base station 104 to communicate with cloud platform 106. Robot 102 may include, but is not limited to: cleaning robots, such as sweeping robots, floor cleaning robots, robots that integrate sweeping and cleaning, self-cleaning robots, etc.; delivery robots, such as food delivery robots, item delivery robots, etc.

[0038] The region exploration method of this application embodiment can be executed by robot 102 and cloud platform 106 individually, or it can be executed jointly by robot 102 and cloud platform 106. The region exploration method of this application embodiment executed by robot 102 can also be executed by a client installed on it.

[0039] Taking the region exploration method implemented by robot 102 in this embodiment as an example, Figure 2 This is a flowchart illustrating an optional region exploration method according to an embodiment of this application, such as... Figure 2 As shown, the process of this method may include the following steps:

[0040] Step S202: Determine a set of first exploration points in the target grid map, wherein each first exploration point in the set of first exploration points is a location point in the target grid map that allows the target robot to explore the area.

[0041] The area exploration method in this embodiment can be applied to scenarios where robots are used to explore unknown areas. The unknown area can be an indoor area, such as a user's home room, office, or factory workshop; the location area can be an area to be cleaned or an area to be traversed; functionally, the robot can be a cleaning robot, a delivery robot, etc.; morphologically, the robot can be a biomimetic robot, such as a quadruped robot or a crawling robot. This embodiment does not impose any limitations on this.

[0042] In this embodiment, for the target robot (an example of the robot 102 described above), the target robot can explore unknown areas and perform mapping operations on the unknown areas. By constructing a map of the unknown areas, it is convenient to perform subsequent tasks based on the constructed map, such as cleaning tasks. When the target robot performs cleaning tasks, obstacles can be identified and avoided.

[0043] When exploring unknown areas, there may be multiple candidate exploration points. Related technologies typically employ a random selection method, choosing one exploration point from among these candidates. However, this random selection method can lead to low exploration efficiency due to unreachable points or duplicate selections of already explored points.

[0044] To at least partially solve the above problems, in this embodiment, an exploration point to be explored can be selected from multiple candidate exploration points based on the situation of obstacle points in the grid cells adjacent to the candidate exploration point. Since it is based on the situation of obstacle points in the grid cells adjacent to the candidate exploration point, the situation where the selected exploration point is unreachable due to the presence of obstacles can be reduced, thereby improving the efficiency of area exploration.

[0045] For the target robot, when exploring the target grid map, a set of candidate exploration points, i.e., a set of first exploration points, can be identified. These first exploration points can be locations on the target grid map where the target robot is allowed to explore the area, such as points where the target robot can move (locations the target robot can move to). Optionally, the target grid map can include explored areas (e.g., areas that have already been explored, which can be areas in grid cells) and areas to be explored (e.g., areas to be explored, which can be areas in grid cells). Explored areas can be displayed on the target grid map with a white outline or an outline of another color, or without color display.

[0046] The target robot can determine a set of first exploration points in one or more ways, including at least one of the following: determining all passable locations in the target grid map as first exploration points; determining all points in the target grid map except for obstacle points as first exploration points; or determining a set of first exploration points through other methods, which are not limited in this embodiment. Here, obstacle points are used to represent the positions of obstacles in the target grid map, and are points corresponding to the positions of obstacles, that is, points representing the positions of obstacles.

[0047] Step S204: Select a target exploration point from a set of first exploration points, wherein there are no obstacle points indicating the location of obstacles in the grid cells adjacent to the target exploration point.

[0048] In this embodiment, the target robot can select a target exploration point from a set of first detection points. The robot can perform a filtering operation on each first exploration point, selecting the first exploration point that does not have an obstacle point indicating the location of an obstacle in its adjacent grid cell as the target exploration point. Optionally, if it is determined that there is another first exploration point in the adjacent grid cell of a first exploration point, and there is no obstacle point indicating the location of an obstacle in the adjacent grid cells of the two first exploration points, the target robot can randomly determine one of the first exploration points as the target exploration point, or determine both first exploration points as the target exploration points.

[0049] Step S206: Control the target robot to move towards the target exploration point in order to explore the target grid map.

[0050] In this embodiment, after determining the target exploration point, the target robot can move from its current position towards the target exploration point. During the movement, if it passes through a grid cell that is not yet explored, it can stop to explore that area before continuing towards the target exploration point until it reaches the target exploration point and begins exploring the area there. Optionally, after reaching the target exploration point, the target robot can repeat the above steps to continue acquiring exploration points and exploring the area until there are no more unexplored areas in the target grid map, thus completing the area exploration of the entire target grid map.

[0051] Through steps S202 to S206, a set of first exploration points in the target grid map is determined, wherein each first exploration point in the set of first exploration points is a location point in the target grid map that allows the target robot to explore the area; a target exploration point is selected from the set of first exploration points, wherein there are no obstacle points indicating the location of obstacles in the grid cells adjacent to the target exploration point; the target robot is controlled to move towards the target exploration point to explore the area of ​​the target grid map. This solves the problem of low efficiency in area exploration methods in related technologies due to unreasonable selection of exploration points, and improves the efficiency of area exploration.

[0052] In one exemplary embodiment, before selecting the target exploration point from a set of first exploration points, the method further includes:

[0053] S11, Use the perception sensors on the target robot to collect point cloud data for each of the first exploration points in a set of first exploration points, and obtain point cloud data corresponding to each first exploration point;

[0054] S12, by projecting the point cloud data corresponding to each first exploration point onto the target grid map, the obstacle points in the grid cells adjacent to each first exploration point are determined.

[0055] To explore unknown areas, the target robot can be equipped with perception sensors. These sensors can be used for point cloud data acquisition and may include, but are not limited to, at least one of the following: laser sensors, such as dot matrix laser sensors, linear laser sensors, ToF (Time of Flight) laser sensors, LDS sensors, etc.; depth cameras, such as RGB-D (Red Green Blue Depth Map, a depth image that adds a depth map to a regular three-channel color image) depth cameras, etc. This embodiment does not limit the type of perception sensor.

[0056] For the target robot, in scenarios such as area exploration and performing preset tasks, it can use perception sensors to collect point cloud data and use the detected point cloud data for movement path planning. For each first exploration point, the exploration direction corresponding to each first exploration point can be determined based on the target robot's current position and the position of each first exploration point. For example, a direction pointing from each first exploration point to each first exploration point. According to the exploration direction corresponding to each first exploration point, the perception sensors are controlled to collect point cloud data, obtaining the point cloud data corresponding to each first exploration point. The point cloud data corresponding to each first exploration point may include obstacle points detected by the perception sensors, that is, the points corresponding to obstacles.

[0057] For the point cloud data corresponding to each first exploration point, the target robot can transform the point cloud data corresponding to each first exploration point to the world coordinate system based on the transformation relationship between the sensor coordinate system of the perception sensor, the robot coordinate system of the target robot, and the world coordinate system (the coordinate system corresponding to the target grid map). Then, the transformed point cloud data is projected onto the target grid map to obtain a set of projected grid cells corresponding to each first exploration point. The set of projected grid cells contains the points to which the obstacle points are projected, which are the obstacle points in the grid cells.

[0058] Based on the grid cell where each first exploration point is located, the grid cells adjacent to each first exploration point can be determined. For example, the grid cells adjacent to each first exploration point can be the grid cells adjacent to the grid cell where the first exploration point is located, such as eight adjacent grid cells, that is, the grid cells within a 3x3 grid centered on the grid cell where each first exploration point is located. Based on the obstacle points in a set of projected grid cells, the obstacle points in the grid cells adjacent to each first exploration point can be determined.

[0059] In this embodiment, local point cloud data is acquired through a sensing sensor, and obstacle points in the grid cells adjacent to the exploration point are determined based on the local point cloud data and the map information of the grid map. This can improve the rationality of the exploration point selection and increase the efficiency of area exploration.

[0060] In one exemplary embodiment, determining a first set of exploration points in a target grid map includes:

[0061] S21, determine the explored area of ​​the target raster map, where the explored area is the area in the target raster map that has been explored;

[0062] S22, determine a set of candidate points from the first target area, wherein the first target area is an area with the current position of the target robot as the center and a preset radius as the radius;

[0063] S23, select candidate points that meet the exploration point selection conditions from a set of candidate points to obtain a set of first exploration points. The exploration point selection conditions include at least one of the following: belonging to an already explored area and having a minimum distance to the boundary of the already explored area that is less than or equal to a first distance threshold; or belonging to an area to be explored in the target raster map other than the already explored area and having a minimum distance to the boundary of the already explored area that is greater than or equal to a second distance threshold.

[0064] In this embodiment, the target grid map may include an explored area and a region to be explored. The meanings of the explored area and the region to be explored are similar to those in the previous embodiments and will not be repeated here. To improve the efficiency of determining exploration points, a first target area can be determined based on the current position of the target robot; and a set of candidate points can be determined from the first target area. Here, the first target area may be an area with the current position of the target robot as the center and a preset radius as the radius. The preset radius may be a radius preset by the robot (e.g., 3 meters, 5 meters, etc.). The first target area may also be an area that the sensing sensors on the target robot can sense during the target robot's rotation of at least one revolution.

[0065] There can be one or more ways for the target robot to determine a set of candidate points from the first target area. For example, a set of candidate points can be all the locations in the first target area that the target robot is allowed to move to, or all the locations that the target robot is allowed to move to and that belong to the area to be explored, or all the locations that the target robot is allowed to move to, that belong to the explored area and are adjacent to the area to be explored, etc. In this embodiment, there is no limitation on the way to select a set of candidate points from the first target area.

[0066] In this embodiment, the exploration direction can be discarded if it is near or adjacent to an unknown area on the map, and if it is near a historical exploration direction. Here, the exploration direction is the direction corresponding to the exploration point, which is the direction pointing from the current position of the target robot to the exploration point.

[0067] Given a set of candidate points, the target robot can select candidate points that meet the exploration point selection criteria to obtain a first set of exploration points. The exploration point selection criteria here refer to the conditions for selecting exploration points, and can include one or more selection criteria. That is, it can include conditions for selecting location points within an already explored area, or conditions for selecting location points within a region to be explored.

[0068] As an optional embodiment, the selection criteria for exploration points may include: belonging to an already explored area and having a minimum distance to the boundary of the already explored area that is less than or equal to a first distance threshold. A first set of exploration points belongs to exploration points in the already explored area, and their minimum distance to the boundary of the already explored area is less than or equal to the first distance threshold.

[0069] The selection method for the aforementioned search points can be to examine whether a location point (e.g., a candidate point) within an explored area is adjacent to an unknown area on the map, thereby selecting an exploration point. Whether it is adjacent to an unknown area on the map can be determined based on the distance between the location point and the boundary of the explored area. Correspondingly, the selection criteria for exploration points can include: belonging to an explored area, and having a distance less than or equal to a first distance threshold between the location point and the boundary of the explored area in the direction connecting the current location and the candidate point.

[0070] As another optional embodiment, the selection criteria for exploration points may include: belonging to the area to be explored in the target raster map other than the already explored area, and having a minimum distance to the boundary of the already explored area greater than or equal to a second distance threshold. A first set of exploration points belongs to the exploration points of the area to be explored, and their minimum distance to the boundary of the already explored area is greater than or equal to the second distance threshold.

[0071] The selection of search points can be achieved by checking whether a location point (e.g., a candidate point) within the area to be explored is near a historical exploration direction. Whether a point is near a historical exploration direction can be determined based on the distance between the location point and the boundary of the already explored area. Correspondingly, the selection criteria for search points can include: belonging to the area to be explored, and having a distance greater than or equal to a second distance threshold between the location point and the boundary of the already explored area in the direction connecting the current location and the candidate point.

[0072] This embodiment determines the selection range of search points based on the robot's current location and uses different selection conditions to select exploration points, which can improve the rationality of exploration point selection.

[0073] In one exemplary embodiment, determining a set of candidate points from a first target region includes:

[0074] S31, the location point located on the boundary of the first target area, belonging to the explored area, and allowing the target robot to move to is determined as the first candidate point;

[0075] S32, within the first target area, the farthest point perceived by the target robot's perception sensor along a preset direction, which belongs to the area to be explored, is determined as the second candidate point;

[0076] One set of candidate points includes the first candidate point and the second candidate point.

[0077] To improve the ease of candidate point determination, for locations on the boundary of the first target area that belong to the explored area, the locations that the target robot can move to can be identified as first candidate points. For example, the target robot can acquire all locations on the boundary of the first target area that belong to the explored area, and identify the locations that the target robot can move to from these locations as first candidate points.

[0078] For a location point within the first target area that belongs to the area to be explored (unknown area on the map), a second candidate point can be determined from the location points sensed by the target robot's perception sensors along a preset direction. The determined second candidate point can be the farthest point among the location points sensed by the perception sensors along the preset direction, or the preceding grid cell, the preceding two grid cells, etc., adjacent to the grid cell containing the farthest point along the preset direction. The selected second candidate point can be a location point that the target robot is allowed to move to. Here, the preset direction can be a pre-set perception direction or a perception direction determined according to preset perception parameters; this embodiment does not limit this.

[0079] For example, the target robot can emit multiple sensing rays through its sensing sensors. These rays can be used to detect location points in the area to be explored along a preset direction. The farthest location point detected by the sensing sensors along the preset direction is determined as a second candidate point. The determined second candidate point is not an obstacle point.

[0080] This embodiment uses different methods to determine exploration points for location points in the already explored area and location points in the area to be explored, which can improve the convenience and efficiency of exploration point determination.

[0081] In one exemplary embodiment, selecting a target exploration point from a set of first exploration points includes:

[0082] S41, Select a first exploration point from a set of first exploration points that does not have an obstacle point in an adjacent grid cell, and obtain a set of second exploration points;

[0083] S42, based on the positional relationship between a set of second exploration points and the area to be explored in the target grid map, select the target exploration point from the set of second exploration points, wherein the area to be explored is the area in the target grid map to be explored.

[0084] In this embodiment, when selecting target exploration points, a set of second exploration points can be obtained by first selecting first exploration points from a set of first exploration points that do not have obstacle points in adjacent grid cells indicating obstacle locations. Here, each second exploration point can be an exploration point that does not have obstacle points in adjacent grid cells indicating obstacle locations, or it can be an exploration point that the target robot is allowed to reach. The exploration points that the target robot is allowed to reach can be exploration points that the target robot can reach, determined based on the robot's dimensions (e.g., robot width, robot height, etc.) and point cloud data (which can be local point clouds) collected by sensing sensors.

[0085] For a set of second exploration points, a target exploration point can be determined from the set of second exploration points through random selection or other methods. Optionally, in order to improve the new information that can be explored during area exploration, a target exploration point can be selected from the set of second exploration points based on the unknown information that the exploration points may contain. In this embodiment, the unknown information that each second exploration point may contain can be determined based on the positional relationship between each second exploration point and the area to be explored in the target grid map. For example, the distance between each second exploration point and the area to be explored, whether each second exploration point belongs to the area to be explored, the number of grid cells adjacent to each second exploration point that belong to the area to be explored, etc., can be determined to select a target exploration point from the set of second exploration points. Here, the area to be explored is the area in the target grid map that needs to be explored.

[0086] This embodiment improves the rationality of exploration point selection by selecting exploration points based on whether there are obstacle points in adjacent grid cells and the unknown information that the exploration point may contain.

[0087] In one exemplary embodiment, selecting a target exploration point from a set of second exploration points based on the positional relationship between the second set of exploration points and the area to be explored on the target grid map includes:

[0088] S51, determine exploration reference information corresponding to each of the second exploration points in a set of second exploration points, wherein the exploration reference information is used to indicate the number of grid cells belonging to the area to be explored in the second target area centered on each second exploration point;

[0089] S52, Select the target exploration point from a set of second exploration points based on the exploration reference information corresponding to each second exploration point.

[0090] In this embodiment, the unknown information that may be contained at the exploration point can be determined based on the intersection of the second target region centered at each second exploration point and the region to be explored. For each second exploration point, the following operations can be performed as the current exploration point:

[0091] Determine the second target area centered on the current exploration point. The second target area can be a 3x3 grid centered on the grid map where the current exploration point is located, with each grid cell corresponding to a grid cell. Alternatively, the second target area can be a circular area centered on the current exploration point with a second preset radius. The grid cell where the boundary of the circular area is located can be included in the second target area, or it can be excluded and not included in the second target area.

[0092] The number of grid cells contained in the intersection of the second target area and the area to be explored is determined, thereby obtaining exploration reference information corresponding to the current exploration point. The exploration reference information is used to indicate the number of grid cells belonging to the area to be explored in the second target area centered on the current exploration point, such as 5, 6, 8, etc.

[0093] By performing the above operations, the exploration reference information corresponding to each second exploration point can be determined. Based on the exploration reference information corresponding to each second exploration point, a target exploration point can be selected from a set of second exploration points. The method for selecting a target exploration point can be to select the second exploration point that is closer to the target robot and whose number indicated by the corresponding exploration reference information is greater than or equal to a preset number threshold. Other methods can also be used. In this embodiment, the method for selecting a target exploration point is not limited.

[0094] In this embodiment, the selection of exploration points based on the number of grid cells contained in the intersection of the region centered on the exploration point and the region to be explored can improve the rationality of exploration point selection.

[0095] In one exemplary embodiment, selecting a target exploration point from a set of second exploration points based on exploration reference information corresponding to each second exploration point includes:

[0096] S61, determine the maximum number among the quantities indicated by the exploration reference information corresponding to each second exploration point;

[0097] S62, if there is only one second exploration point corresponding to the maximum number, then the second exploration point corresponding to the maximum number is determined as the target exploration point.

[0098] In this embodiment, based on the exploration reference information corresponding to each second exploration point, the exploration point that may contain the most unknown information can be selected from a group of second exploration points for area exploration. Here, the exploration point that contains the most unknown information can be the second exploration point with the largest number of grid cells belonging to the area to be explored in the second target area centered on each second exploration point.

[0099] Optionally, the maximum number indicated by the exploration reference information corresponding to each second exploration point can be determined. For example, if there are 5 second exploration points in a group, where the exploration reference information corresponding to 2 second exploration points indicates 5, the exploration reference information corresponding to 2 second exploration points indicates 6, and the exploration reference information corresponding to 1 second exploration point indicates 8, the maximum number can be determined to be 8.

[0100] If there is only one second exploration point corresponding to the maximum number, then the number of exploration points potentially containing the most unknown information can be considered to be 1. Therefore, the second exploration point corresponding to the maximum number can be identified as the target exploration point. For example, the second exploration point corresponding to the number 8 mentioned above can be identified as the optimal exploration point for area exploration.

[0101] By selecting the exploration point with the greatest potential for unknown information for regional exploration in this embodiment, the amount of new information that can be obtained during regional exploration can be increased, thereby improving the efficiency of regional exploration.

[0102] In one exemplary embodiment, selecting a target exploration point from a set of second exploration points based on exploration reference information corresponding to each second exploration point further includes:

[0103] S71, when there are multiple second exploration points corresponding to the maximum number, select the second exploration point closest to the target robot from the multiple second exploration points corresponding to the maximum number to obtain the target exploration point.

[0104] There are multiple second exploration points corresponding to the maximum number. One exploration point can be selected from these multiple second exploration points as the target exploration point. There are several ways to select an exploration point from multiple second exploration points. For example, one second exploration point can be randomly selected from multiple second exploration points as the exploration point to be explored.

[0105] In this embodiment, to improve the efficiency of area exploration, the second exploration point closest to the target robot among multiple second exploration points can be identified, and this second exploration point closest to the target robot can be designated as the target exploration point.

[0106] In this embodiment, by selecting the exploration point closest to the robot for area exploration, the robot's travel distance can be reduced, and the efficiency of area exploration can be improved.

[0107] The method for exploring a region in this application embodiment will be explained below with reference to an optional example. In this optional example, the sensing sensor is an LDS sensor, the target robot is an LDS robot, and the region exploration is the exploration of an unknown indoor environment.

[0108] In related technologies, when LDS robots explore indoors, they often use a random selection method to explore areas when faced with multiple candidate exploration points. This results in the selected exploration points being unreachable or the exploration efficiency being low, and the inability to obtain more new information.

[0109] To address at least some of the aforementioned technical problems, this optional example provides a method for improving the quality of LDS robots' screening of transient exploration points in indoor environments by utilizing point cloud and map information, such as... Figure 3 As shown, the process of exploring a region in this optional example may include the following steps:

[0110] Step S302: Obtain multiple candidate exploration points (i.e., the aforementioned first set of exploration points) and determine multiple exploration directions. Here, the candidate exploration points and exploration directions can be in a one-to-one correspondence or a many-to-one relationship.

[0111] Step S304: Each exploration direction is selected as the current exploration direction and the exploration points corresponding to the remaining exploration directions are selected as the remaining exploration points.

[0112] For the current exploration point, check if this exploration direction is near or adjacent to an unknown area on the map. If it is near a historical exploration direction or not adjacent to an unknown area on the map, discard this exploration direction. Check if there are any obstacles in the eight neighborhoods of the exploration point corresponding to this exploration direction on the coarse-resolution map (i.e., the target raster map). If there are obstacles, discard this exploration direction. In addition, check if the size of the gap in this exploration direction is greater than a gap size threshold. If it is less than the gap size threshold, discard this exploration direction.

[0113] Here, the verification of whether there are obstacle points in the eight neighborhoods of the exploration point and the checking of the gap size in the exploration direction can be performed based on the map information of the local point cloud and the raster map collected by the LDS sensor.

[0114] Step S306: From the remaining exploration points, select the exploration point with the largest potential to contain unknown information (e.g., the number of grid cells belonging to the area to be explored contained in the second target area containing each remaining exploration point) and explore it.

[0115] This optional example improves the quality of LDS robots in selecting short-term exploration points in indoor environments by fusing local point cloud and map information, thereby increasing the efficiency of robots in conducting short-term explorations in unknown indoor environments.

[0116] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0117] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to 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 (Read-Only Memory) / RAM (Random Access Memory), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0118] According to another aspect of the embodiments of this application, an exploration apparatus for implementing the above-described exploration method for a region is also provided. Figure 4 This is a structural block diagram of an optional area exploration device according to an embodiment of this application, such as... Figure 4 As shown, the device may include:

[0119] The first determining unit 402 is used to determine a set of first exploration points in the target grid map, wherein each first exploration point in the set of first exploration points is a location point in the target grid map that allows the target robot to explore the area;

[0120] The selection unit 404 is connected to the first determination unit 402 and is used to select a target exploration point from a set of first exploration points, wherein there are no obstacle points indicating the location of obstacles in the grid cells adjacent to the target exploration point;

[0121] Control unit 406, connected to selection unit 404, is used to control the target robot to move towards the target exploration point in order to explore the target grid map.

[0122] It should be noted that the first determining unit 402 in this embodiment can be used to execute the above step S202, the selecting unit 404 in this embodiment can be used to execute the above step S204, and the control unit 406 in this embodiment can be used to execute the above step S206.

[0123] Through the above modules, a set of first exploration points in the target grid map is determined, wherein each first exploration point in the set of first exploration points is a location point in the target grid map that allows the target robot to explore the area; a target exploration point is selected from the set of first exploration points, wherein there are no obstacle points indicating the location of obstacles in the grid cells adjacent to the target exploration point; the target robot is controlled to move towards the target exploration point to explore the area of ​​the target grid map, thereby solving the problem of low efficiency in area exploration methods in related technologies due to unreasonable selection of exploration points, and improving the efficiency of area exploration.

[0124] In one exemplary embodiment, the first determining unit includes:

[0125] The first determining module is used to determine the explored area of ​​the target raster map, wherein the explored area is the area in the target raster map that has been explored;

[0126] The second determining module is used to determine a set of candidate points from the first target area, wherein the first target area is an area with the current position of the target robot as the center and a preset radius as the radius;

[0127] The first selection module is used to select candidate points that meet the selection conditions for exploration points from a set of candidate points to obtain a set of first exploration points. The selection conditions for exploration points include at least one of the following: belonging to an already explored area and having a minimum distance to the boundary of the already explored area that is less than or equal to a first distance threshold; or belonging to an area to be explored in the target raster map other than the already explored area and having a minimum distance to the boundary of the already explored area that is greater than or equal to a second distance threshold.

[0128] In one exemplary embodiment, the second determining module includes:

[0129] The first determination submodule is used to determine the location points located on the boundary of the first target area, belonging to the explored area, and allowing the target robot to move to, as the first candidate points;

[0130] The second determination submodule is used to determine the farthest position point within the first target area that belongs to the area to be explored and is perceived by the target robot's perception sensor along a preset direction as the second candidate point;

[0131] One set of candidate points includes the first candidate point and the second candidate point.

[0132] In one exemplary embodiment, the selection unit includes:

[0133] The second selection module is used to select first exploration points from a set of first exploration points that do not have obstacle points in adjacent grid cells that indicate the location of obstacles, and to obtain a set of second exploration points;

[0134] The third selection module is used to select a target exploration point from a set of second exploration points based on the positional relationship between the second exploration points and the area to be explored in the target grid map. The area to be explored is the area in the target grid map that needs to be explored.

[0135] In one exemplary embodiment, the third selection module includes:

[0136] The third determination submodule is used to determine the exploration reference information corresponding to each of the second exploration points in a set of second exploration points, wherein the exploration reference information is used to indicate the number of grid cells belonging to the area to be explored in the second target area centered on each second exploration point;

[0137] The selection submodule is used to select a target exploration point from a set of second exploration points based on the exploration reference information corresponding to each second exploration point.

[0138] In one exemplary embodiment, selecting a submodule includes:

[0139] The first determining subunit is used to determine the maximum number among the quantities indicated by the exploration reference information corresponding to each second exploration point;

[0140] The second determining subunit is used to determine the second exploration point corresponding to the maximum number as the target exploration point when there is only one second exploration point corresponding to the maximum number.

[0141] In one exemplary embodiment, the selection submodule further includes:

[0142] Select a sub-unit to select the second exploration point closest to the target robot from the multiple second exploration points corresponding to the maximum number, when there are multiple second exploration points corresponding to the maximum number, and obtain the target exploration point.

[0143] In one exemplary embodiment, the above-described apparatus further includes:

[0144] The acquisition unit is used to acquire point cloud data of each first exploration point in a set of first exploration points using the perception sensors on the target robot before selecting the target exploration point from the set of first exploration points, so as to obtain point cloud data corresponding to each first exploration point;

[0145] The second determining unit is used to determine the obstacle points in the grid cells adjacent to each first exploration point by projecting the point cloud data corresponding to each first exploration point onto the target grid map.

[0146] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should also be noted that the above modules, as part of a device, can operate in environments such as... Figure 1 The hardware environment shown can be implemented through software or hardware, and the hardware environment includes the network environment.

[0147] According to another aspect of the embodiments of this application, a storage medium is also provided. Optionally, in this embodiment, the storage medium can be used to execute program code for the exploration method of any of the regions described in the embodiments of this application.

[0148] Optionally, in this embodiment, the storage medium may be located on at least one of the network devices in the network shown in the above embodiment.

[0149] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps:

[0150] S1, determine a set of first exploration points in the target grid map, wherein each first exploration point in the set of first exploration points is a location point in the target grid map that allows the target robot to explore the area;

[0151] S2, Select a target exploration point from a set of first exploration points, wherein there are no obstacle points indicating the location of obstacles in the grid cells adjacent to the target exploration point;

[0152] S3 controls the target robot to move towards the target exploration point in order to explore the target grid map.

[0153] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated in this embodiment.

[0154] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0155] According to another aspect of the embodiments of this application, an electronic device for implementing the above-described area exploration method is also provided, which may be a server, a terminal, or a combination thereof.

[0156] Figure 5 This is a structural block diagram of an optional electronic device according to an embodiment of this application, such as... Figure 5As shown, it includes a processor 502, a communication interface 504, a memory 506, and a communication bus 508. The processor 502, communication interface 504, and memory 506 communicate with each other via the communication bus 508.

[0157] Memory 506 is used to store computer programs;

[0158] When processor 502 executes a computer program stored in memory 506, it performs the following steps:

[0159] S1, determine a set of first exploration points in the target grid map, wherein each first exploration point in the set of first exploration points is a location point in the target grid map that allows the target robot to explore the area;

[0160] S2, Select a target exploration point from a set of first exploration points, wherein there are no obstacle points indicating the location of obstacles in the grid cells adjacent to the target exploration point;

[0161] S3 controls the target robot to move towards the target exploration point in order to explore the target grid map.

[0162] Optionally, in this embodiment, the communication bus can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, Figure 5 The symbol is represented by a single thick line, but this does not indicate that there is only one bus or one type of bus. The communication interface is used for communication between the aforementioned electronic device and other devices.

[0163] The aforementioned memory may include RAM, or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0164] As an example, the memory 506 described above may include, but is not limited to, the first determining unit 402, the selecting unit 404, and the control unit 406 of the control device of the aforementioned device. Furthermore, it may include, but is not limited to, other module units of the control device of the aforementioned device, which will not be elaborated upon in this example.

[0165] The processors mentioned above can be general-purpose processors, including but not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; they can also be DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0166] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0167] Those skilled in the art will understand that Figure 5 The structure shown is for illustrative purposes only. The device used to implement the exploration method for the above-mentioned area can be a terminal device, such as a smartphone (e.g., an Android phone, an iOS phone), a tablet computer, a PDA, a mobile Internet device (MID), a PAD, or other terminal devices. Figure 5 This does not limit the structure of the aforementioned electronic device. For example, the electronic device may also include components that are more... Figure 5 The more or fewer components shown (such as network interfaces, display devices, etc.), or having the same Figure 5 The different configurations shown.

[0168] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a computer-readable storage medium, which may include: flash drive, ROM, RAM, disk or optical disk, etc.

[0169] 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.

[0170] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0171] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0172] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0173] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the solution provided in this embodiment, depending on actual needs.

[0174] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0175] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for exploring a region, characterized in that, include: A set of first exploration points is determined in the target grid map, wherein each of the first exploration points in the set of first exploration points is a location point in the target grid map that allows the target robot to explore the area; A target exploration point is selected from the first set of exploration points, wherein there are no obstacle points indicating the location of obstacles in the grid cells adjacent to the target exploration point; The target robot is controlled to move towards the target exploration point in order to explore the target grid map. The step of selecting a target exploration point from the set of first exploration points includes: From the first set of exploration points, select the first exploration points that do not have any obstacle points in the adjacent grid cells that indicate the location of obstacles, and obtain a second set of exploration points; Based on the positional relationship between the set of second exploration points and the area to be explored in the target grid map, the target exploration point is selected from the set of second exploration points, wherein the area to be explored is the area in the target grid map to be explored; The step of selecting the target exploration point from the set of second exploration points based on the positional relationship between the set of second exploration points and the area to be explored on the target raster map includes: Determine exploration reference information corresponding to each of the set of second exploration points, wherein the exploration reference information is used to indicate the number of grid cells belonging to the area to be explored in the second target area centered on each of the second exploration points; Based on the exploration reference information corresponding to each second exploration point, the target exploration point is selected from the group of second exploration points.

2. The method according to claim 1, characterized in that, The determination of a first set of exploration points in the target grid map includes: Determine the explored area of ​​the target raster map, wherein the explored area is the area in the target raster map that has been explored; A set of candidate points is determined from the first target area, wherein the first target area is an area with the current position of the target robot as the center and a preset radius as the radius; Candidate points that meet the exploration point selection criteria are selected from the set of candidate points to obtain the first set of exploration points. The exploration point selection criteria include at least one of the following: belonging to the already explored area and having a minimum distance to the boundary of the already explored area that is less than or equal to a first distance threshold; or belonging to the area to be explored in the target grid map other than the already explored area and having a minimum distance to the boundary of the already explored area that is greater than or equal to a second distance threshold.

3. The method according to claim 2, characterized in that, The step of determining a set of candidate points from the first target area includes: The location point located on the boundary of the first target area, belonging to the explored area, and allowing the target robot to move to is determined as the first candidate point; Within the first target area, the farthest point that belongs to the area to be explored and is perceived by the target robot's sensor along a preset direction is determined as the second candidate point; The set of candidate points includes the first candidate point and the second candidate point.

4. The method according to claim 1, characterized in that, The step of selecting the target exploration point from the set of second exploration points based on the exploration reference information corresponding to each second exploration point includes: Determine the maximum number among the quantities indicated by the exploration reference information corresponding to each second exploration point; If there is only one second exploration point corresponding to the maximum number, then the second exploration point corresponding to the maximum number is determined as the target exploration point.

5. The method according to claim 4, characterized in that, The step of selecting the target exploration point from the set of second exploration points based on the exploration reference information corresponding to each second exploration point further includes: If there are multiple second exploration points corresponding to the maximum number, the second exploration point closest to the target robot is selected from the multiple second exploration points corresponding to the maximum number to obtain the target exploration point.

6. The method according to any one of claims 1 to 5, characterized in that, Before selecting the target exploration point from the set of first exploration points, the method further includes: The target robot uses its perception sensors to collect point cloud data for each of the first exploration points in the set of first exploration points, thereby obtaining point cloud data corresponding to each of the first exploration points. By projecting the point cloud data corresponding to each first exploration point onto the target grid map, obstacle points within the grid cells adjacent to each first exploration point are determined.

7. A regional exploration device, characterized in that, include: The first determining unit is used to determine a set of first exploration points in the target grid map, wherein each of the first exploration points in the set of first exploration points is a location point in the target grid map that allows the target robot to explore the area; A selection unit is used to select a target exploration point from the set of first exploration points, wherein there are no obstacle points indicating the location of obstacles in the grid cells adjacent to the target exploration point; A control unit is used to control the target robot to move towards the target exploration point in order to explore the target grid map. The step of selecting a target exploration point from the set of first exploration points includes: From the first set of exploration points, select the first exploration points that do not have any obstacle points in the adjacent grid cells that indicate the location of obstacles, and obtain a second set of exploration points; Based on the positional relationship between the set of second exploration points and the area to be explored in the target grid map, the target exploration point is selected from the set of second exploration points, wherein the area to be explored is the area in the target grid map to be explored; The step of selecting the target exploration point from the set of second exploration points based on the positional relationship between the set of second exploration points and the area to be explored on the target raster map includes: Determine exploration reference information corresponding to each of the set of second exploration points, wherein the exploration reference information is used to indicate the number of grid cells belonging to the area to be explored in the second target area centered on each of the second exploration points; Based on the exploration reference information corresponding to each second exploration point, the target exploration point is selected from the group of second exploration points.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program, when executed, performs the method of any one of claims 1 to 6.

9. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the method of any one of claims 1 to 6 through the computer program.

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