Map updating method and device, electronic equipment and readable storage medium
Through the recognition module, the images acquired by the mobile robot image acquisition unit are identified and updated, which solves the problem of navigation interference caused by the mobile robot marking objects in the map, and improves work efficiency and path planning accuracy.
Patent Information
- Application Number
- CN202411280665.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-12
- Publication Date
- 2024-12-31
AI Technical Summary
The objects marked by the mobile robot in the map cause navigation interference due to movement, affecting path planning and work efficiency.
The recognition module recognizes the images acquired by the image acquisition unit, adds object information to the initial object collection, and deletes removed objects when refreshing is required, updates the object location in the map, and avoids interference.
It effectively avoids the interference of moving and marked objects on navigation, and improves the working efficiency of mobile robots and the accuracy of path planning.
Smart Images
Figure CN119226303A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of robotics technology, and in particular to a map updating method, device, electronic device and readable storage medium. Background Art
[0002] Mobile robots are generally equipped with cameras, which can provide object recognition functions. The installed cameras can be monocular, binocular or RGBD cameras. Low mobile robots such as sweepers and lawn mowers can mark the identified objects on the internal map for obstacle avoidance, to avoid unnecessary collisions or certain objects entangled and blocking the sweeper. In the above method, generally only the process of adding the identified objects to the map is performed, which may result in the situation that the previously marked objects have been moved away during path planning, which in turn affects the work of the mobile robot, for example, it appears to be circling in the air. Summary of the invention
[0003] The embodiments of the present application provide a map updating method, device, electronic device and readable storage medium, which can delete objects that were previously marked on the map but have now moved away, thereby avoiding interference with navigation caused by the marked objects that have moved away.
[0004] The embodiments of the present application can be implemented as follows:
[0005] In a first aspect, an embodiment of the present application provides a map updating method, the method comprising:
[0006] Recognize an image obtained by an image acquisition unit on the mobile robot, and add object information obtained by the recognition to an initial object set to obtain a first object set, wherein the object information is used to indicate a location of an object, and the objects indicated by the initial object set are marked in a marking layer of a current map, wherein the map includes a map layer and the marking layer;
[0007] In the case where objects in the map need to be refreshed, the current first object set is processed to obtain a second object set, wherein the processing includes deleting the removed objects;
[0008] The current objects in the annotation layer of the map are cleared, and the objects indicated by the second object set are marked in the annotation layer based on the locations of the corresponding objects, so as to complete the map update.
[0009] In a second aspect, an embodiment of the present application provides a map updating device, the device comprising:
[0010] A recognition module, used for recognizing an image obtained by an image acquisition unit on the mobile robot, and adding object information obtained by the recognition to an initial object set to obtain a first object set, wherein the object information is used to indicate a location of an object, and the objects indicated by the initial object set are marked in a marking layer of a current map, wherein the map includes a map layer and the marking layer;
[0011] A processing module, configured to process the current first object set to obtain a second object set when objects in the map need to be refreshed, wherein the processing includes deleting the removed objects;
[0012] The updating module is used to clear the current objects in the annotation layer of the map, and mark the objects indicated by the second object set in the annotation layer based on the locations of the corresponding objects to complete the map update.
[0013] In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the map updating method described in the aforementioned embodiment.
[0014] In a fourth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the map updating method as described in the aforementioned embodiment is implemented.
[0015] The map updating method, device, electronic device and readable storage medium provided in the embodiments of the present application recognize images obtained by the image acquisition unit on the mobile robot, and add the object information obtained by the recognition to the initial object set to obtain a first object set, wherein the object information is used to indicate the location of the object, and the objects indicated by the initial object set are marked in the annotation layer of the current map, and the map includes a map layer and an annotation layer; when it is necessary to refresh the objects in the map, the current first object set is processed including deleting the removed objects to obtain a second object set, and then the current objects in the annotation layer of the map are cleared, and the objects indicated by the obtained second object set are marked in the annotation layer based on the corresponding object locations to complete the map update. In this way, by updating the location of objects on the map in the above manner, interference of the moved annotated objects on navigation can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
[0017] Figure 1 A block diagram of an electronic device provided in an embodiment of the present application;
[0018] Figure 2 One of the flowcharts of the map updating method provided in the embodiment of the present application;
[0019] Figure 3 A schematic diagram of a map provided for an embodiment of the present application;
[0020] Figure 4 A second flowchart of a map updating method provided in an embodiment of the present application;
[0021] Figure 5 for Figure 2 One of the flowchart diagrams of the sub-steps included in step S130;
[0022] Figure 6 for Figure 5 A schematic flow chart of the sub-steps included in sub-step S131;
[0023] Figure 7 for Figure 2 2 is a flow chart of the sub-steps included in step S130;
[0024] Figure 8 for Figure 2 3. Flow chart of sub-steps included in step S130;
[0025] Fig. 9 A block diagram of a map updating device provided in an embodiment of the present application.
[0026] Icon: 100 - electronic device; 110 - memory; 120 - processor; 130 - communication unit; 200 - map updating device; 210 - identification module; 220 - processing module; 230 - updating module. DETAILED DESCRIPTION
[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.
[0028] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.
[0029] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.
[0030] At present, objects are generally recognized based on the camera installed on the mobile robot, and the recognized objects are added to the annotation layer of the map, and then the map is used for path planning. Among them, the objects added to the annotation layer will always exist in the map. In this way, it may happen that the previously marked objects have moved away during path planning, which will affect the work of the mobile robot, for example, it will circle around in the air.
[0031] For example, if people walk around the robot vacuum cleaner, a large number of shoes will be recognized by the AI and marked on the map. Objects such as cone chairs may be moved by people after being marked on the map. The old marks of the moved objects left on the map will affect the operation of the robot vacuum cleaner.
[0032] In response to the above situation, the embodiments of the present application provide a map updating method, device, electronic device and readable storage medium to delete objects that were previously marked on the map but have now moved away, thereby avoiding interference with AI recognition-assisted navigation caused by moving human legs or artificial movement of marked objects.
[0033] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.
[0034] Please refer to Figure 1 , Figure 1 A schematic diagram of an electronic device 100 provided in an embodiment of the present application. The electronic device 100 may be, but is not limited to, a mobile robot, etc. The electronic device 100 includes a memory 110, a processor 120, and a communication unit 130. The memory 110, the processor 120, and the communication unit 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses or signal lines.
[0035] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.
[0036] The processor 120 is used to read / write data or programs stored in the memory 110 and execute corresponding functions. For example, the memory 110 stores a map updating device 200, and the map updating device 200 includes at least one software function module that can be stored in the memory 110 in the form of software or firmware. The processor 120 executes various functional applications and data processing by running software programs and modules stored in the memory 110, such as the map updating device 200 in the embodiment of the present application, that is, realizing the map updating method in the embodiment of the present application.
[0037] The communication unit 130 is used to establish a communication connection between the electronic device 100 and other communication terminals through a network, and to send and receive data through the network.
[0038] It should be understood that Figure 1 The structure shown is only a schematic diagram of the structure of the electronic device 100. The electronic device 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.
[0039] Please refer to Figure 2 , Figure 2 This is one of the flowcharts of the map updating method provided in the embodiment of the present application. The method can be applied to the above electronic device. The specific process of the map updating method is described in detail below. In this embodiment, the method may include step S110, step S130 to step S140.
[0040] Step S110 , identifying the image obtained by the image acquisition unit on the mobile robot, and adding the object information obtained by the identification to the initial object set to obtain a first object set.
[0041] In this embodiment, the mobile robot may be a sweeper, a lawn mower, etc. The mobile robot includes an image acquisition unit, which may be, but is not limited to, a monocular camera, a binocular camera, or an RGBD camera, etc. The image acquisition unit may perform image acquisition at a preset frequency. Each time an image is obtained, object recognition may be performed on the image to obtain object information. The object information is used to indicate the location of the object. The object information obtained by image recognition may be added to the initial object set to obtain a first object set. The objects indicated by the initial object set are marked in the annotation layer of the current map, that is, the objects indicated by the initial object set are all displayed in the current map.
[0042] The map in this embodiment includes a map layer and the annotation layer. The map layer is used to display map data, and the annotation layer is used to display objects. The objects displayed in the annotation layer are objects that need to be avoided during navigation. Figure 3 As shown, the map layer is used to display a grid map; the annotation layer displays an annotation object 1 and an annotation object 2, where the annotation object 1 is a circle composed of white dots and the annotation object 2 is a square composed of white dots. The map may also include a mobile robot, such as Figure 3 As shown, when the mobile robot is a sweeping machine, the map may also include the sweeping machine, and the location of the sweeping machine in the map may be the current location of the sweeping machine.
[0043] Step S130: When it is necessary to refresh the objects in the map, the current first object set is processed to obtain a second object set.
[0044] In this embodiment, the objects in the map may be updated periodically or triggered by other conditions. When it is determined that the objects in the map do not need to be updated at present, the image acquisition, recognition, and the processing of adding the recognized object information to the first object set may continue. When it is determined that the objects in the map need to be updated at present, the current first object set may be processed, and the processed first object set may be used as the second object set. The processing includes deleting the removed objects. The current first object set is the first object set when it is determined that the objects in the map are to be refreshed.
[0045] If the objects in the map are updated periodically, the specific period can be determined in combination with actual needs. For example, if it is set to 0.5s, when the period is 0.5s, the above processing is performed on the current first object set every 0.5s. It can be understood that the current first object set may contain newly identified objects relative to the initial object set, and the current first object set may be the same as the initial object set, which is determined by the actual situation.
[0046] Step S140: clear the current objects in the annotation layer of the map, and mark the objects indicated by the second object set in the annotation layer based on the locations of the corresponding objects to complete the map update.
[0047] When the second object set is obtained, all the annotated objects in the annotation layer of the current map are deleted, and then each object indicated in the second object set is annotated in the annotation layer according to the location of the object indicated by the object information corresponding to the object. At this time, the annotated objects in the annotated image are all objects indicated by the second object set. The updated map can be as follows Figure 3 shown.
[0048] The above steps may be performed repeatedly, and thus the second object set in step S140 is used as a new initial object set, and then a new second object set is obtained to perform another update of the labeled objects.
[0049] In this way, objects that were previously marked on the map but have now moved away can be deleted, thereby avoiding interference with navigation by the marked objects that have moved away.
[0050] In this embodiment, the mobile robot can record objects recognized by AI and save them in the first object set during its operation, for example, the sweeper can record objects recognized by AI and save them in the first object set during its cleaning process; it can also save the center position information of the recognized objects in the first object set, that is, the first object set includes the center position information corresponding to each object. The center position information can be the center position coordinates of the object. The objects in the first object set can also be marked as objects detectable by laser radar. Which specific objects can be marked as objects detectable by laser radar can be determined based on actual conditions and marking rules, and will not be specifically determined here. It is possible to determine whether the object has moved away based on the center position of the marked object and the current laser frame, and then determine whether to delete the object from the first object set.
[0051] As a possible implementation, see Figure 4 , Figure 4 The second flowchart of the map updating method provided in the embodiment of the present application. In the present embodiment, the method may further include steps S121 to S123 for determining whether to mark an object as an object detectable by a laser radar.
[0052] Step S121, determining a second target range according to the center position of the object recognized based on the image.
[0053] Step S122, determining whether there is a second laser point located within the second target range in the laser frame corresponding to the image used to identify the object, and obtaining a determination result.
[0054] Step S123, determining whether to mark the object as an object detectable by the laser radar based on the judgment result.
[0055] In this embodiment, when an object is identified based on an image, the center position information of the object can be obtained, and then a second target range is determined based on the position indicated by the center position information (i.e., the center position of the object). The second target range includes the center position of the identified object, and the second target range is used to indicate the position range of the identified object. The second target range corresponding to an object can be determined based on actual needs. For example, a circle is used as the second target range, and the center of the circle is the center position of the identified object and the radius is a preset radius (for example, 0.05 meters).
[0056] The mobile laser also includes a laser radar, and the time when the laser radar collects and obtains the laser frame is close to or the same as the time when the image acquisition unit collects and obtains the image. In the case of identifying an object based on an image, it is also possible to determine whether there is a second laser point located within the second target range in the laser frame corresponding to the image used to identify the object, and obtain a judgment result. Among them, the corresponding laser frame is a laser frame whose corresponding collection time is the same or close to the collection time of the image used to identify the object. Afterwards, it can be determined whether the object can be marked as an object detectable by the laser radar based on the above judgment result.
[0057] As a possible implementation, whether to mark based on the judgment result can be determined in the following manner. The judgment result may include the total number of the second laser points, that is, the total number of second laser points located within the second target range in the laser frame corresponding to the image used to identify the object is analyzed. The total number can be compared with a preset number, which is greater than or equal to 1 and can be set in combination with actual needs, such as being set to 2. If the total number is less than the preset number, it is determined not to mark the object as an object detectable by the laser radar. If the total number is greater than the preset data, the object is marked as an object detectable by the laser radar.
[0058] As a possible implementation, Figure 5 The method shown in the figure determines whether an object is a removed object. Figure 5 , Figure 5 for Figure 2 One of the flowchart diagrams of the sub-steps included in step S130. In this embodiment, step S130 may include sub-steps S131 to S132.
[0059] Sub-step S131 , for each object to be processed, determining whether there is a first laser point in the current laser frame that is within a first target range corresponding to the object to be processed.
[0060] In this embodiment, the objects to be processed are those in the first object set that are marked as detectable by the laser radar. For each object to be processed in the first object set, it can be determined whether the laser points of the current laser frame include the first laser point located in the first target range corresponding to the object to be processed. The current laser frame is the latest laser frame obtained when the first object set is about to be processed. For example, at time t, it is determined that the first object set is to be processed to obtain the second object set, and the laser frame closest to time t among the obtained laser frames is laser frame A, then laser frame A is the current laser frame in sub-step S131.
[0061] Among them, the first target range is determined based on the target angle and the target distance. The target angle is the angle of the center position indicated by the center position information of the object to be processed in the current laser radar coordinate system, and the target distance is the distance between the center position of the object to be processed and the laser radar in the current laser radar coordinate system. The origin of the current laser radar coordinate system is the current position of the laser radar. The target angle range of the first target range in the current laser radar coordinate system includes the target angle, and the target angle range can be determined based on actual needs. For example, plus or minus 1.5 degrees of the target angle is the target angle range. For example, if the target angle is 30 degrees, the target angle range is 28.5° to 31.5°. The distance between the position within the first target range and the current laser radar is greater than the sum of the target distance and the first preset distance. The first preset distance can be determined based on actual needs. For example, the first preset distance is 0.1 meters.
[0062] As a possible implementation, Figure 6 The method shown in the figure quickly determines whether the first laser point exists. Figure 6 , Figure 6 for Figure 5 Schematic diagram of the flow of sub-steps included in sub-step S131. In this embodiment, sub-step S131 may include sub-steps S1311 to S1312.
[0063] Sub-step S1311, calculating the target angle and target distance corresponding to the object to be processed according to the central position information of the object to be processed.
[0064] Sub-step S1312, determining whether there is a first laser point in the current laser frame within the target angle range and whose distance from the current laser radar is greater than the sum value.
[0065] In this embodiment, for an object to be processed, the center position information of the object to be processed can be converted into the target angle and target distance in the current laser radar coordinate system. After that, it can be directly determined whether there is a first laser point in the current laser frame within the target angle range whose distance is greater than the first preset distance from the center position of the object. The distance between the first laser point and the current laser radar is greater than the sum of the target distance and the first preset distance.
[0066] Sub-step S132: if the first laser point exists in the current laser frame, it is determined that the object to be processed has been removed, and the object to be processed is deleted from the current first object set to obtain the second object set.
[0067] In this embodiment, if it is determined that the first laser point exists in the current laser frame, it means that the object to be processed has been moved. In this case, the object to be processed is deleted from the first object set, so as to avoid displaying the moved object in the annotation layer to interfere with path planning. If it is determined that the first laser point does not exist in the current laser frame, it cannot be said that the object to be processed has been moved. In this case, the object to be processed is not determined as a moved object and can be temporarily retained.
[0068] In this embodiment, the first object set may also include the appearance time of each object. The appearance time may be the acquisition time of the image used to identify the object. As a possible implementation method, Figure 7 The first object set is processed in the manner shown to obtain the second object set. Figure 7 , Figure 7 for Figure 2 FIG. 2 is a flow chart of sub-steps included in step S130. In this embodiment, step S130 may further include sub-steps S134 to S135.
[0069] Sub-step S134, for each object in the first object set, the existence duration of the object is calculated according to the appearance time of the object and the current time.
[0070] Sub-step S135 , deleting objects whose existence time is longer than a preset existence time from the first object set to obtain the second object set.
[0071] In this embodiment, for each object in the first object set, the existence time of the object can be calculated according to the appearance time of the object and the current time. Then, the existence time of the object is compared with the preset existence time. Among them, the preset existence time can be determined in combination with actual needs, for example, it is set to 30s. If the existence time of the object is longer than the preset existence time, the object can be regarded as an object that has appeared for a long time and has no effect on subsequent path planning, etc., and the object can be deleted from the first object set. In this way, the large amount of calculation caused by the need to place many objects in the annotation layer when refreshing the object can be reduced.
[0072] In this embodiment, the first object set may also include object position information of each object. As a possible implementation method, Figure 8 The first object set is processed in the manner shown to obtain the second object set. Figure 8 , Figure 8 for Figure 23 is a flow chart of sub-steps included in step S130. In this embodiment, step S130 may further include sub-steps S137 to S138.
[0073] Sub-step S137, for each object in the first object set, calculate the interval distance between the object position indicated by the object position information of the object and the current position of the mobile robot.
[0074] Sub-step S138: deleting objects whose interval distance is greater than the second preset distance from the first object set to obtain the second object set.
[0075] In this embodiment, the object position indicated by the object position information of each object included in the first object set may be the center position of the object, or the position of a certain point on the object, which may be determined by actual needs. For each object in the first object set, the distance between the object position of the object and the current position of the mobile robot may be calculated as the interval distance. Then, the interval distance is compared with the second preset distance. Among them, the second preset distance is used to evaluate whether the object is currently far away from the mobile robot, which may be set in combination with actual needs. For example, the second preset distance is 2 meters. If the interval distance is less than or equal to the second preset distance, the object will not be deleted from the first object set temporarily. If the interval distance is greater than the second preset distance, the object may be deleted from the first object set. In this way, the large amount of calculation caused by the need to place many objects in the annotation layer when refreshing the object can be reduced.
[0076] Among them, the second object set can be a set obtained only through sub-step S131 to sub-step S132, or can be a set obtained through at least one of sub-steps S134 to sub-step S135 and sub-steps S137 to sub-step S138, as well as sub-steps S131 to sub-step S132, and the specific method can be determined based on actual conditions.
[0077] When the second object set is obtained, the information of the original AI annotation layer can be cleared, and the refreshed object records represented by the second object set can be re-annotated into the AI annotation layer to complete the object refresh of the map, thereby obtaining an updated map. Path planning can be performed based on the updated map.
[0078] The grid map displayed in the map layer may be a map obtained by a SLAM (Simultaneous Localization And Mapping) algorithm, that is, the grid map in the map layer may be refreshed while the mobile robot is working and refreshing objects.
[0079] The map updating method provided in this embodiment is a method for a robot to update the position of an object on a map based on lidar and visual recognition. By deleting the moved marked objects, the interference of human movement of marked objects on navigation can be solved. At the same time, by simultaneously deleting objects whose existence time is greater than the preset existence time or whose distance from the current position of the mobile robot is greater than a second preset distance, the amount of calculation can be reduced without affecting normal operation.
[0080] In order to execute the corresponding steps in the above embodiments and various possible methods, a method for implementing a map updating device 200 is provided below. Optionally, the map updating device 200 may adopt the above Figure 1 The device structure of the electronic device 100 is shown. Fig. 9 , Fig. 9 The block diagram of the map updating device 200 provided in the embodiment of the present application is shown in FIG. It should be noted that the basic principle and technical effects of the map updating device 200 provided in the present embodiment are the same as those of the above embodiment. For the sake of brief description, for the parts not mentioned in the present embodiment, reference can be made to the corresponding contents in the above embodiment. In the present embodiment, the map updating device 200 may include: an identification module 210, a processing module 220 and an updating module 230.
[0081] The recognition module 210 is used to recognize the image obtained by the image acquisition unit on the mobile robot, and add the object information obtained by the recognition to the initial object set to obtain a first object set. The object information is used to indicate the location of the object, and the objects indicated by the initial object set are marked in the annotation layer of the current map, and the map includes the map layer and the annotation layer.
[0082] The processing module 220 is used to process the current first object set to obtain a second object set when objects in the map need to be refreshed, wherein the processing includes deleting the removed objects.
[0083] The updating module 230 is used to clear the current objects in the annotation layer of the map, and mark the objects indicated by the second object set in the annotation layer based on the locations of the corresponding objects, so as to complete the map update.
[0084] Optionally, the above modules can be stored in the form of software or firmware. Figure 1 The memory 110 shown in the figure may be fixed in the operating system (OS) of the electronic device 100 and may be Figure 1Meanwhile, the data and program codes required for executing the above modules may be stored in the memory 110.
[0085] An embodiment of the present application further provides a readable storage medium having a computer program stored thereon, and the computer program implements the map updating method when executed by a processor.
[0086] In summary, the map updating method, device, electronic device and readable storage medium provided in the embodiments of the present application recognize the image obtained by the image acquisition unit on the mobile robot, and add the object information obtained by the recognition to the initial object set to obtain a first object set, wherein the above object information is used to indicate the location of the object, and the objects indicated by the initial object set are marked in the annotation layer of the current map, and the map includes a map layer and an annotation layer; when it is necessary to refresh the objects in the map, the current first object set is processed including deleting the removed objects to obtain a second object set, and then the current objects in the annotation layer of the map are cleared, and the objects indicated by the obtained second object set are marked in the annotation layer based on the corresponding object locations to complete the map update. In this way, by updating the location of the object on the map as described above, the interference of the moved annotated objects on the navigation can be avoided.
[0087] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.
[0088] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
[0089] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.
[0090] The above description is only an optional embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims
1. A map updating method, characterized in that: The method comprises: Recognize an image obtained by an image acquisition unit on the mobile robot, and add object information obtained by the recognition to an initial object set to obtain a first object set, wherein the object information is used to indicate a location of an object, and the objects indicated by the initial object set are marked in a marking layer of a current map, wherein the map includes a map layer and the marking layer; In the case where objects in the map need to be refreshed, the current first object set is processed to obtain a second object set, wherein the processing includes deleting the removed objects; The current objects in the annotation layer of the map are cleared, and the objects indicated by the second object set are marked in the annotation layer based on the locations of the corresponding objects, so as to complete the map update.
2. The method according to claim 1, characterized in that The first object set includes central position information corresponding to each object, and the processing of the current first object set to obtain the second object set includes: For each object to be processed, determine whether there is a first laser point located within a first target range corresponding to the object to be processed in the current laser frame, wherein the object to be processed is marked as detectable by the laser radar in the first object set, and the first target range is determined based on a target angle and a target distance, the target angle is the angle of the center position indicated by the center position information of the object to be processed in the current laser radar coordinate system, the target distance is the distance between the center position of the object to be processed and the laser radar in the current laser radar coordinate system, the target angle range of the first target range in the current laser radar coordinate system includes the target angle, and the distance between the position within the first target range and the current laser radar is greater than the sum of the target distance and the first preset distance; If the first laser point exists in the current laser frame, it is determined that the object to be processed has been removed, and the object to be processed is deleted from the current first object set to obtain the second object set.
3. The method according to claim 2, characterized in that The step of determining, for each object to be processed, whether there is a first laser point located within a first target range corresponding to the object to be processed in the current laser frame comprises: Calculating the target angle and target distance corresponding to the object to be processed according to the center position information of the object to be processed; It is determined whether there is a first laser point in the current laser frame within the target angle range and whose distance from the current laser radar is greater than the sum value.
4. The method according to claim 2, characterized in that: The method further comprises: Determine a second target range according to the center position of the object recognized based on the image, wherein the second target range includes the center position of the recognized object, and the second target range is used to indicate the position range of the recognized object; Determine whether there is a second laser point located within the second target range in the laser frame corresponding to the image used to identify the object, and obtain a determination result; Based on the judgment result, determine whether to mark the object as an object detectable by the laser radar.
5. The method according to claim 4, characterized in that The judgment result includes the total number of the second laser points, and determining whether to mark the object as an object detectable by the laser radar according to the judgment result includes: Determining whether the total quantity is greater than a preset quantity; If the total number is greater than the preset number, it is determined that the object is marked as an object detectable by the laser radar.
6. The method according to any one of claims 1 to 5, characterized in that: The first object set also includes the appearance time of each object. When the map needs to be refreshed, the current first object set is processed to obtain the second object set, and further includes: For each object in the first object set, calculate the existence time of the object according to the appearance time of the object and the current time; Objects whose existence time is longer than a preset existence time are deleted from the first object set to obtain the second object set.
7. The method according to any one of claims 1 to 5, characterized in that: The first object set also includes object location information of each object. When the map needs to be refreshed, the current first object set is processed to obtain the second object set, and further includes: For each object in the first object set, calculating a distance between an object position indicated by the object position information of the object and a current position of the mobile robot; Objects whose interval distance is greater than a second preset distance are deleted from the first object set to obtain the second object set.
8. A map updating device, characterized in that: The device comprises: A recognition module, used for recognizing an image obtained by an image acquisition unit on the mobile robot, and adding object information obtained by the recognition to an initial object set to obtain a first object set, wherein the object information is used to indicate a location of an object, and the objects indicated by the initial object set are marked in a marking layer of a current map, wherein the map includes a map layer and the marking layer; A processing module, configured to process the current first object set to obtain a second object set when objects in the map need to be refreshed, wherein the processing includes deleting the removed objects; The updating module is used to clear the current objects in the annotation layer of the map, and mark the objects indicated by the second object set in the annotation layer based on the locations of the corresponding objects to complete the map update.
9. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the map updating method according to any one of claims 1 to 7.
10. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the map updating method according to any one of claims 1 to 7 is implemented.