Environmental exploration method, rat robot and storage medium

Abstract

The present application relates to the technical field of environmental exploration, and discloses an environmental exploration method, a rat robot, and a storage medium. The method comprises: controlling the rat robot in a target environment corresponding to a target map, collecting first distance data, second distance data, and posture data of the rat robot; determining first coordinate data based on a local coordinate system of the rat robot, the first distance data, and the posture data; determining second coordinate data based on the second distance data and device coordinate data of the preset positioning device; updating the target map based on the first coordinate data and the second coordinate data to obtain an exploration map. The target map can be completely and accurately explored through the first distance data, the second distance data, and the posture data to obtain an exploration map, thereby realizing effective exploration of unknown environments. The application also relates to the technical field of environmental exploration, and discloses an environmental exploration method, a rat robot, and a storage medium. The method comprises: controlling the rat robot in a target environment corresponding to a target map, collecting first distance data, second distance data, and posture data of the rat robot; determining first coordinate data based on a local coordinate system of the rat robot, the first distance data, and the posture data; determining second coordinate data based on the second distance data and the device coordinate data of the preset positioning device; updating the target map based on the first coordinate data and the second coordinate data to obtain an exploration map. The method comprises:

Description

Technical Field

[0001] The present invention relates to the technical field of environmental exploration, and in particular to an environmental exploration method, a rat robot and a storage medium. Background Art

[0002] When the rat robot performs reconnaissance, search and rescue tasks, it often needs to explore unknown environments. However, in unknown environments, the positions of obstacles cannot be predicted, which makes it impossible for the rat robot to move along the path planned in advance, making it difficult to explore the unknown environment and the exploration effect is poor. Summary of the invention

[0003] Based on this, it is necessary to address the technical problem that the rat robot in the prior art has a poor effect in exploring an unknown environment, and propose an environment exploration method, a rat robot and a storage medium.

[0004] In a first aspect, an environment exploration method is provided, the method comprising:

[0005] Get the discovery signal;

[0006] In response to the exploration signal, the rat robot in the target environment corresponding to the target map is controlled to collect first distance data, second distance data and posture data of the rat robot, wherein the first distance data is the distance data between the rat robot and an obstacle, and the second distance data is the distance data between the rat robot and a preset positioning device;

[0007] Determine first coordinate data based on the local coordinate system of the rat robot, the first distance data, and the posture data, wherein the first coordinate data is the coordinate data of the obstacle in the global coordinate system corresponding to the target map;

[0008] Determine second coordinate data according to the second distance data and the device coordinate data of the preset positioning device, wherein the device coordinate data is the coordinate data of the preset positioning device in the global coordinate system, and the second coordinate data is the coordinate data of the rat robot in the global coordinate system;

[0009] The target map is updated according to the first coordinate data and the second coordinate data to obtain an exploration map.

[0010] In a second aspect, a rat robot is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned environment exploration method when executing the computer program.

[0011] According to a third aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned environment exploration method are implemented.

[0012] The environmental exploration method proposed by the present invention controls a rat robot in a target environment corresponding to a target map by acquiring an exploration signal, responding to the exploration signal, collecting first distance data, second distance data and posture data of the rat robot, wherein the first distance data is the distance data between the rat robot and an obstacle, and the second distance data is the distance data between the rat robot and a preset positioning device, and then determining first coordinate data based on the local coordinate system of the rat robot, the first distance data and the posture data, wherein the first coordinate data is the coordinate data of the obstacle in the global coordinate system corresponding to the target map, thereby determining second coordinate data according to the second distance data and the device coordinate data of the preset positioning device, wherein the device coordinate data is the coordinate data of the preset positioning device in the global coordinate system, and the second coordinate data is the coordinate data of the rat robot in the global coordinate system, and finally updating the target map according to the first coordinate data and the second coordinate data to obtain an exploration map. The target map can be completely and accurately explored through the first distance data, the second distance data and the posture data to obtain an exploration map, thereby realizing effective exploration of unknown environments, and can be widely used in the fields of reconnaissance and exploration. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0014] in:

[0015] Figure 1 An application environment diagram of an environment exploration method in one embodiment;

[0016] Figure 2 is a flow chart of an environment exploration method in one embodiment;

[0017] Figure 3 4 is a structural block diagram of a rat robot in one embodiment. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0021] The present application provides an environment exploration method, a rat robot and a storage medium.

[0022] Among them, the rat robot can be directly or indirectly connected to the server through wired or wireless communication. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can also be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, as well as big data and artificial intelligence platforms and other basic cloud computing services. This application does not impose any restrictions here.

[0023] The rat robot includes a rat body and an electronic backpack. The electronic backpack includes a processor, a laser ranging module, an IMU module, a UWB module, a communication module, an electrical stimulation module, a memory, and a computer program stored in the memory and executable on the processor. The processor is electrically connected to the laser ranging module, the IMU module, the UWB module, the communication module, and the electrical stimulation module.

[0024] The laser ranging module can be used to measure the distance to obstacles, the IMU (Inertial measurement unit) module is used to measure the three-axis attitude angle and acceleration of the object, the communication module can use Bluetooth for communication, but is not limited to this, the UWB (ultra-wideband wireless communication) module is used to measure the distance to the preset positioning device, and the electrical stimulation module is used to send stimulation pulses to the corresponding brain area of ​​the rat body through the brain-computer interface connected to the rat body, so that the rat robot can complete the corresponding forward, left turn, right turn, stop and other actions. The processor can use a single-chip microcontroller, but is not limited to this.

[0025] In one implementation, the rat robot can communicate with the host computer system through the communication module. The host computer system mainly includes a host computer system processor and a host computer system memory. The host computer system processor can be a single-chip microcontroller. The host computer system memory is a memory. The host computer system memory can be a hard disk, but is not limited to this. The host computer system processor can be used to process the sensor data received from the electronic backpack, calculate the position and posture of the rat robot through the sensor data, analyze the position of surrounding obstacles, and perform path planning and command generation for the rat robot.

[0026] In one implementation, the rat body wears an electronic backpack. As an example, the electronic backpack includes two PCB boards, an upper PCB board and an lower PCB board. There are through holes at the four corners of the two boards, and the two PCB boards can be fixedly connected with nylon bolts. In the upper PCB board, the upper board surface includes a power interface and switch, a voltage-stabilized power supply chip, a three-way laser ranging sensor interface, an IMU module interface, an operational amplifier chip, and an electrical stimulation module interface; the lower board surface includes an STM32 main control chip and a Bluetooth interface. The lower PCB board mainly includes a Bluetooth interface and a Bluetooth module. The Bluetooth interface of the upper PCB board is a pin header, and the Bluetooth interface of the lower PCB board is a female header. The two are connected to transmit the sensor information measured by the upper PCB board to the upper computer system via the Bluetooth module of the lower PCB board. The three-way laser ranging sensor in the electronic backpack is fixed on the three directions of the PCB board through the 3D printed nylon structure fixed on the PCB board. The laser ranging sensor is connected to the interface on the PCB board through wires; the flat battery that powers the electronic backpack is fixed between the electronic backpack and the rat body through Velcro, and is connected to the power supply interface of the electronic backpack through wires; in addition, each component in the electronic backpack is fixed on the PCB board by welding patches and connected to the corresponding circuit.

[0027] As a preferred embodiment of the present invention, the rat body wears a wearable vest, and the electronic backpack is fixed to the back of the rat body through the wearable vest. Specifically, the wearable vest is cut from a round Velcro with a fleece surface, and has two larger round holes on it so that the rat's forelimbs can pass through, and two small round holes are used for fixing with cable ties. When the electronic backpack is fixed, the long strip of Velcro with a fleece surface passes through the gap between the upper and lower PCB boards of the electronic backpack, and the two ends are respectively attached to the two sides of the wearable vest of the rat robot, so as to achieve the effect of stable connection while having little influence on the movement of the rat body.

[0028] During the process of environmental exploration, the rat robot receives an exploration signal, responds to the exploration signal, controls the rat robot in the target environment corresponding to the target map, collects first distance data, second distance data and posture data of the rat robot, wherein the first distance data is the distance data between the rat robot and an obstacle, and the second distance data is the distance data between the rat robot and a preset positioning device, and the rat robot determines first coordinate data based on the local coordinate system of the rat robot, the first distance data and the posture data, wherein the first coordinate data is the coordinate data of the obstacle in the global coordinate system corresponding to the target map, and then the rat robot determines second coordinate data according to the second distance data and the device coordinate data of the preset positioning device, wherein the device coordinate data is the coordinate data of the preset positioning device in the global coordinate system, and the second coordinate data is the coordinate data of the rat robot in the global coordinate system, and finally the rat robot updates the target map according to the first coordinate data and the second coordinate data to obtain an exploration map.

[0029] The environmental exploration method provided in the present application can completely and accurately explore the target map through the first distance data, the second distance data and the posture data to obtain an exploration map, thereby realizing effective exploration of unknown environments and can be widely used in reconnaissance, exploration and other fields.

[0030] See also Figure 2 As shown, Figure 2 A flow chart of an environment exploration method provided by an embodiment of the present invention, applied to a rat robot, includes the following steps:

[0031] Step S101: Acquire a discovery signal;

[0032] For example, the exploration signal may be a signal sent by the user terminal to the rat robot, or may be a signal automatically generated when a preset time is reached. As an example, the exploration signal is generated when the timer of the rat robot reaches a preset time.

[0033] Step S102: in response to the exploration signal, controlling the rat robot in the target environment corresponding to the target map to collect first distance data, second distance data, and posture data of the rat robot, wherein the first distance data is the distance data between the rat robot and an obstacle, and the second distance data is the distance data between the rat robot and a preset positioning device;

[0034] In one implementation, the first distance data may include distance data in the front, left, and right directions of the rat robot, which means that obstacles in three directions can be detected. For example, the timestamp of the transmitter of the range-finding sensor of the rat robot and the timestamp of the reflected laser are obtained, and the absolute value of the difference between the two timestamps is obtained to obtain the calculation result, and the calculation result is multiplied by 1 / 2 of the laser propagation speed to measure the distance between the rat robot and obstacles in the front, left, and right directions.

[0035] In one implementation, the preset positioning device can be a base station, that is, a public mobile communication base station. The second distance data is sent by the rat robot via an ultra-wideband pulse signal to the base station. After receiving the ultra-wideband pulse signal, the base station returns the ultra-wideband pulse signal to the rat robot. The absolute value of the time difference between sending and receiving the ultra-wideband pulse signal is multiplied by 1 / 2 of the ultra-wideband pulse propagation speed to obtain the second distance data.

[0036] In a preferred implementation, the attitude data can be collected by a nine-axis attitude sensor consisting of a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, thereby obtaining acceleration, angular velocity, and absolute angle in the three directions of x, y, and z.

[0037] In one implementation, the attitude data can also be collected by an inertial measurement unit, which is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object. Generally, an IMU contains three single-axis accelerometers and three single-axis gyroscopes. The accelerometer detects the acceleration signal of the object in the independent three-axis of the carrier coordinate system, and the gyroscope detects the angular velocity signal of the carrier relative to the navigation coordinate system, measures the angular velocity and acceleration of the object in three-dimensional space, and uses this to calculate the attitude of the object.

[0038] Step S103: determining first coordinate data based on the local coordinate system of the rat robot, the first distance data, and the posture data, wherein the first coordinate data is the coordinate data of the obstacle in the global coordinate system corresponding to the target map;

[0039] In this embodiment, the coordinate data of the obstacle in the global coordinate system corresponding to the target map is obtained through the local coordinate system of the rat robot, the first distance data and the posture data of the rat robot.

[0040] As an example, Figure 1 As shown, the rat robot is a rat robot, the coordinate system x′O′y′ with the center of the rat as the origin is the local coordinate system, and xOy is the global coordinate system.

[0041] In a preferred implementation, the step of determining the first coordinate data based on the local coordinate system of the rat robot, the first distance data and the posture data includes:

[0042] Step S1031: determining third coordinate data according to the local coordinate system and the first distance data, wherein the third coordinate data is coordinate data of the obstacle in the local coordinate system;

[0043] For example, in order to represent the position of the obstacle in the local coordinate system, the coordinate data of each obstacle in the local coordinate system is obtained by calculating the local coordinate system and the first distance data corresponding to each obstacle, and the coordinate data is used as the third coordinate data.

[0044] Step S1032: performing coordinate data conversion according to the third coordinate data and the posture data to obtain the first coordinate data.

[0045] In this embodiment, the third coordinate data in the local coordinate system is converted into the global coordinate system through the third coordinate data and the posture data of the rat robot, thereby obtaining the first coordinate data.

[0046] In a preferred implementation, the step of performing coordinate data conversion according to the third coordinate data and the posture data to obtain the first coordinate data includes:

[0047] Step S10321: determining the orientation position of the rat robot based on the posture data, and calculating the angle difference between the local coordinate system and the global coordinate system based on the orientation position;

[0048] Step S10322: determining a position difference according to the second coordinate data and the global coordinate system;

[0049] Step S10323: Based on the angle difference and the position difference, convert the third coordinate data to obtain first coordinate data.

[0050] For example, the posture data including acceleration, angular velocity, and absolute angle are fused and corrected by complementary filtering algorithm to obtain a relatively accurate posture of the rat robot to determine the orientation of the rat robot. Then, based on the orientation, the angle difference between the local coordinate system and the global coordinate system is calculated. The angle difference is the orientation angle, such as Figure 1 As shown in , the orientation angle θ. Based on the angle difference and the position difference, a coordinate system conversion matrix is ​​obtained, and the third coordinate data is converted to obtain the first coordinate data.

[0051] As an example, the coordinates (xO′, yO′) of the rat robot in the global coordinate system, as well as the angle difference and the orientation angle θ of the rat robot, can be used to obtain the transformation matrix of the two coordinate systems:

[0052]

[0053] In the local coordinate system x′O′y′ of the rat robot, the coordinates of an obstacle a are (xa', ya'), and the coordinates of the obstacle in the global coordinate system can be obtained as (xa, ya):

[0054] xa=xO′+xa′*cosθ-ya′*sinθ

[0055] ya=yO′+xa′*sinθ+ya′*cosθ

[0056] Step S104: determining second coordinate data according to the second distance data and the device coordinate data of the preset positioning device, wherein the device coordinate data is the coordinate data of the preset positioning device in the global coordinate system, and the second coordinate data is the coordinate data of the rat robot in the global coordinate system;

[0057] For example, the coordinate data of the rat robot in the global coordinate system can be determined through the device coordinate data corresponding to each preset positioning device and the second distance data from each preset positioning device to the rat robot.

[0058] Step S105: updating the target map according to the first coordinate data and the second coordinate data to obtain an exploration map.

[0059] For example, the first coordinate data and the second coordinate data are used to mark the area that has been explored on the target map, for example, the area that has been explored is highlighted, so that the target map is updated and the updated target map is used as the exploration map.

[0060] The environment exploration method proposed in this embodiment obtains an exploration signal, responds to the exploration signal, controls the rat robot in the target environment corresponding to the target map, collects the first distance data, the second distance data and the posture data of the rat robot, wherein the first distance data is the distance data between the rat robot and the obstacle, and the second distance data is the distance data between the rat robot and the preset positioning device, and then determines the first coordinate data based on the local coordinate system of the rat robot, the first distance data and the posture data, wherein the first coordinate data is the coordinate data of the obstacle in the global coordinate system corresponding to the target map, thereby determining the second coordinate data according to the second distance data and the device coordinate data of the preset positioning device, wherein the device coordinate data is the coordinate data of the preset positioning device in the global coordinate system, and the second coordinate data is the coordinate data of the rat robot in the global coordinate system, and finally updates the target map according to the first coordinate data and the second coordinate data to obtain the exploration map. The target map can be completely and accurately explored through the first distance data, the second distance data and the posture data to obtain the exploration map, thereby realizing the effective exploration of unknown environments, and can be widely used in the fields of reconnaissance and exploration.

[0061] In a preferred implementation, the step of updating the target map according to the first coordinate data and the second coordinate data to obtain an exploration map includes:

[0062] Step S1051: determining an explored area according to the first coordinate data and the second coordinate data;

[0063] For example, the target map is grid-divided, that is, the target map is divided into grids of preset sizes, and the grids where the first coordinate data and the second coordinate data are located are taken as explored areas.

[0064] Furthermore, in one embodiment, the step of determining the explored area according to the first coordinate data and the second coordinate data includes:

[0065] Step A: In the target map, by connecting the first coordinate data and the second coordinate data, determining a grid through which the connecting line passes through the target map as a first grid, wherein the target map is obtained based on grid division;

[0066] Step B: determining a grid of the first coordinate data and the second coordinate data in the target map as a second grid;

[0067] Step C: taking the first grid and the second grid as explored areas.

[0068] In this embodiment, the first coordinate data and the second coordinate data are connected, that is, the connection line passes through the grid of the target map, and the grid of the target map through which the connection line passes is taken as the first grid. Then, the grid of the first coordinate data and the second coordinate data in the target map is taken as the second grid. The first grid and the second grid are taken as the explored area.

[0069] It should also be noted that if each grid in the target map where the second coordinate data is located forms a closed loop, the grid in the closed loop is used as the third grid, and the third grid is used as the explored area.

[0070] Step S1052: updating the target map according to the explored area to obtain an updated map;

[0071] For example, after determining the explored area, the explored area can be processed in the target map to update the target map and obtain an updated map. The processing of the explored area can be labeling, coloring, highlighting, etc.

[0072] Step S1053: Determine the exploration map based on the updated map and the explored area.

[0073] In this embodiment, by updating the map and exploring the area, it is determined whether there is an unexplored area in the updated map. If not, the updated map is used as the exploration map, which means that the exploration of the target map has been completed.

[0074] In a preferred implementation, the step of determining the exploration map based on the updated map and the explored area includes:

[0075] Step D, determining whether there is an unexplored area in the updated map, wherein the unexplored area refers to an area in the updated map other than the explored area;

[0076] Step E: If the unexplored area does not exist, the updated map is used as the explored map.

[0077] In a preferred implementation, after the step of determining whether there is an unexplored area in the updated map, the method further includes:

[0078] Step F, if the unexplored area exists, determining target coordinate data according to the second coordinate data and the updated map;

[0079] The target coordinate data may be coordinate data in the unexplored area that is closest to the second coordinate data.

[0080] Step G, controlling the rat robot to move to an environment corresponding to the target coordinate data;

[0081] Step H, taking the environment as the target environment, updating the map as the target map, and returning to execute the step of controlling the rat robot in the target environment corresponding to the target map, collecting the first distance data, the second distance data and the posture data of the rat robot.

[0082] In another preferred implementation, if the unexplored area exists, the movement instruction sent by the user terminal according to the updated map is obtained, the rat robot is controlled to move to the environment corresponding to the movement instruction, the environment is used as the target environment, the map is updated as the target map, and the step of controlling the rat robot in the target environment corresponding to the target map and collecting the first distance data, the second distance data and the posture data of the rat robot is returned.

[0083] In one embodiment, a rat robot is provided, whose internal structure diagram can be shown as follows: Figure 3 As shown. The rat robot at least includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the rat robot is used to provide computing and control capabilities. The memory of the rat robot includes a non-volatile and / or volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the rat robot is used to communicate with an external client through a network connection. When the computer program is executed by the processor, it realizes the functions or steps on the server side of an environment exploration method.

[0084] In one embodiment, a rat robot is provided, comprising a rat body and an electronic backpack, wherein the electronic backpack comprises a processor, a laser ranging module, an IMU module, a UWB module, a communication module, and an electrical stimulation module, wherein the processor is electrically connected to the laser ranging module, the IMU module, the UWB module, the electrical stimulation module, the communication module, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0085] Get the discovery signal;

[0086] In response to the exploration signal, the rat robot in the target environment corresponding to the target map is controlled to collect first distance data, second distance data and posture data of the rat robot, wherein the first distance data is the distance data between the rat robot and an obstacle, and the second distance data is the distance data between the rat robot and a preset positioning device;

[0087] Determine first coordinate data based on the local coordinate system of the rat robot, the first distance data, and the posture data, wherein the first coordinate data is the coordinate data of the obstacle in the global coordinate system corresponding to the target map;

[0088] Determine second coordinate data according to the second distance data and the device coordinate data of the preset positioning device, wherein the device coordinate data is the coordinate data of the preset positioning device in the global coordinate system, and the second coordinate data is the coordinate data of the rat robot in the global coordinate system;

[0089] The target map is updated according to the first coordinate data and the second coordinate data to obtain an exploration map.

[0090] The environment exploration method proposed in this embodiment obtains an exploration signal, responds to the exploration signal, controls the rat robot in the target environment corresponding to the target map, collects the first distance data, the second distance data and the posture data of the rat robot, wherein the first distance data is the distance data between the rat robot and the obstacle, and the second distance data is the distance data between the rat robot and the preset positioning device, and then determines the first coordinate data based on the local coordinate system of the rat robot, the first distance data and the posture data, wherein the first coordinate data is the coordinate data of the obstacle in the global coordinate system corresponding to the target map, thereby determining the second coordinate data according to the second distance data and the device coordinate data of the preset positioning device, wherein the device coordinate data is the coordinate data of the preset positioning device in the global coordinate system, and the second coordinate data is the coordinate data of the rat robot in the global coordinate system, and finally updates the target map according to the first coordinate data and the second coordinate data to obtain the exploration map. The target map can be completely and accurately explored through the first distance data, the second distance data and the posture data to obtain the exploration map, thereby realizing the effective exploration of unknown environments, and can be widely used in the fields of reconnaissance and exploration.

[0091] In one embodiment, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0092] Get the discovery signal;

[0093] In response to the exploration signal, the rat robot in the target environment corresponding to the target map is controlled to collect first distance data, second distance data and posture data of the rat robot, wherein the first distance data is the distance data between the rat robot and an obstacle, and the second distance data is the distance data between the rat robot and a preset positioning device;

[0094] Determine first coordinate data based on the local coordinate system of the rat robot, the first distance data, and the posture data, wherein the first coordinate data is the coordinate data of the obstacle in the global coordinate system corresponding to the target map;

[0095] Determine second coordinate data according to the second distance data and the device coordinate data of the preset positioning device, wherein the device coordinate data is the coordinate data of the preset positioning device in the global coordinate system, and the second coordinate data is the coordinate data of the rat robot in the global coordinate system;

[0096] The target map is updated according to the first coordinate data and the second coordinate data to obtain an exploration map.

[0097] The environment exploration method proposed in this embodiment obtains an exploration signal, responds to the exploration signal, controls the rat robot in the target environment corresponding to the target map, collects the first distance data, the second distance data and the posture data of the rat robot, wherein the first distance data is the distance data between the rat robot and the obstacle, and the second distance data is the distance data between the rat robot and the preset positioning device, and then determines the first coordinate data based on the local coordinate system of the rat robot, the first distance data and the posture data, wherein the first coordinate data is the coordinate data of the obstacle in the global coordinate system corresponding to the target map, thereby determining the second coordinate data according to the second distance data and the device coordinate data of the preset positioning device, wherein the device coordinate data is the coordinate data of the preset positioning device in the global coordinate system, and the second coordinate data is the coordinate data of the rat robot in the global coordinate system, and finally updates the target map according to the first coordinate data and the second coordinate data to obtain the exploration map. The target map can be completely and accurately explored through the first distance data, the second distance data and the posture data to obtain the exploration map, thereby realizing the effective exploration of unknown environments, and can be widely used in the fields of reconnaissance and exploration.

[0098] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0099] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. An environment exploration method, characterized in that: Applied to a rat robot, the rat robot comprises a rat body and an electronic backpack, the electronic backpack comprises a processor, a laser ranging module, an IMU module, a UWB module, a communication module, and an electrical stimulation module, and the processor is electrically connected to the laser ranging module, the IMU module, the UWB module, the electrical stimulation module, and the communication module; The environment exploration method comprises: Get the discovery signal; In response to the exploration signal, the rat robot in the target environment corresponding to the target map is controlled to collect first distance data, second distance data and posture data of the rat robot, wherein the first distance data is the distance data between the rat robot and an obstacle, and the second distance data is the distance data between the rat robot and a preset positioning device; Determine first coordinate data based on the local coordinate system of the rat robot, the first distance data, and the posture data, wherein the first coordinate data is the coordinate data of the obstacle in the global coordinate system corresponding to the target map; Determine second coordinate data according to the second distance data and the device coordinate data of the preset positioning device, wherein the device coordinate data is the coordinate data of the preset positioning device in the global coordinate system, and the second coordinate data is the coordinate data of the rat robot in the global coordinate system; The target map is updated according to the first coordinate data and the second coordinate data to obtain an exploration map.

2. The environmental exploration method according to claim 1, characterized in that: The step of determining the first coordinate data based on the local coordinate system of the rat robot, the first distance data and the posture data comprises: Determine third coordinate data according to the local coordinate system and the first distance data, wherein the third coordinate data is coordinate data of the obstacle in the local coordinate system; Coordinate data conversion is performed according to the third coordinate data and the posture data to obtain the first coordinate data.

3. The environmental exploration method according to claim 2, characterized in that: The step of performing coordinate data conversion according to the third coordinate data and the posture data to obtain the first coordinate data comprises: Based on the posture data, determining the orientation position of the rat robot, and based on the orientation position, calculating the angle difference between the local coordinate system and the global coordinate system; Determine a position difference according to the second coordinate data and the global coordinate system; Based on the angle difference and the position difference, the third coordinate data is converted to obtain the first coordinate data.

4. The environmental exploration method according to claim 1, characterized in that: The step of updating the target map according to the first coordinate data and the second coordinate data to obtain an exploration map includes: Determining an explored area according to the first coordinate data and the second coordinate data; According to the explored area, the target map is updated to obtain an updated map; The exploration map is determined based on the updated map and the explored area.

5. The environmental exploration method according to claim 4, characterized in that: The step of determining the explored area according to the first coordinate data and the second coordinate data includes: In the target map, a grid of the target map passing through the connecting line of the first coordinate data and the second coordinate data is determined as a first grid, wherein the target map is obtained based on grid division; Determine a grid of the first coordinate data and the second coordinate data in the target map as a second grid; The first grid and the second grid are regarded as explored areas.

6. The environmental exploration method according to claim 4, characterized in that: The step of determining the exploration map based on the updated map and the explored area includes: Determining whether there is an unexplored area in the updated map, wherein the unexplored area refers to an area in the updated map other than the explored area; If the unexplored area does not exist, the updated map is used as the explored map.

7. The environmental exploration method according to claim 6, characterized in that: After the step of determining whether there is an unexplored area in the updated map, the method further includes: If the unexplored area exists, determining target coordinate data according to the second coordinate data and the updated map; Controlling the rat robot to move to an environment corresponding to the target coordinate data; The environment is used as the target environment, the map is updated as the target map, and the steps of controlling the rat robot in the target environment corresponding to the target map and collecting the first distance data, the second distance data and the posture data of the rat robot are returned.

8. A rat robot, characterized in that: The rat robot comprises a rat body and an electronic backpack, wherein the electronic backpack comprises a processor, a laser ranging module, an IMU module, a UWB module, a communication module, an electrical stimulation module, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor is electrically connected to the laser ranging module, the IMU module, the UWB module, the communication module, and the electrical stimulation module; When the processor executes the computer program, the steps of the environment exploration method according to any one of claims 1 to 7 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the environment exploration method according to any one of claims 1 to 7 are implemented.

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