Robot mapping method and device, electronic equipment and medium

Abstract

The invention relates to the technical field of intelligent robots, and provides a robot mapping method and device, electronic equipment and a medium. Comprising the steps of generating a grid map according to a preset frequency; obtaining the grid map; and arriving at a target point according to the grid map, and establishing a map. According to the method, the labor cost is saved, the automation degree is high, and the mapping accuracy is greatly improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent robots, and in particular to a robot mapping method, device, electronic device and medium. Background Art

[0002] For indoor service robots, deployment and mapping is an important process. Robot mapping is the process of using sensor data on the robot to build a spatial model of its surrounding environment. This map is used for robot positioning and navigation.

[0003] In the prior art, robot mapping methods include: requiring a person to push the robot or manually control the robot to complete mapping, or automatic mapping through boundary exploration.

[0004] The above-mentioned existing technologies require people to push the robot or manually control the robot to build a map, which is manpower-consuming and costly. Although automatic mapping sounds convenient, considering the possible existence of particularly dangerous scenes such as stairs and escalators, people still need to pay attention at all times, and some places in the scene do not need to be visited in actual work, so these places do not need to be mapped. Not only is the safety factor low, but it still requires manual labor, high cost, and low accuracy. Summary of the invention

[0005] The present disclosure provides a robot mapping method, device, electronic device and medium, including: generating a grid map according to a preset frequency; acquiring the grid map; reaching a target point according to the grid map and mapping. Compared with the prior art, the present disclosure generates a grid map first, navigates to the target point according to the grid map, and then starts mapping. There is no need for manual robot mapping, which not only saves labor costs, but also, except for the target point that is manually set, everything else is automatic, with a high degree of automation, which also greatly improves the accuracy of mapping.

[0006] In order to achieve the above objectives, the present invention adopts the following technical solutions:

[0007] A first aspect of the present disclosure provides a robot mapping method, comprising:

[0008] Generate a raster map at a preset frequency.

[0009] Get the grid map.

[0010] Reach the target point according to the grid map and build a map.

[0011] Furthermore, the robot mapping method, after obtaining the grid map, further includes:

[0012] The grid map is clipped.

[0013] Furthermore, the robot mapping method clips the grid map, including:

[0014] The grid map is cropped to 20 meters × 20 meters.

[0015] Furthermore, in the robot mapping method, the preset frequency includes:

[0016] The preset frequency is 1 time / second.

[0017] Furthermore, the robot mapping method generates a grid map according to a preset frequency, including:

[0018] A raster map is generated by laser mapping at a preset frequency.

[0019] Furthermore, in the robot mapping method, the laser mapping comprises:

[0020] The laser mapping includes 2D single-line laser mapping and multi-line laser mapping.

[0021] Furthermore, in the robot mapping method, the multi-line laser mapping comprises:

[0022] The multi-line laser mapping is lio-sam.

[0023] Furthermore, the robot mapping method generates a grid map according to a preset frequency, including:

[0024] Generate raster maps through visual mapping at a preset frequency.

[0025] Furthermore, in the robot mapping method, the visual mapping comprises:

[0026] The visual mapping is orb-slam.

[0027] Furthermore, in the robot mapping method, the target points include:

[0028] The target point is set artificially.

[0029] Furthermore, the robot mapping method reaches the target point according to the grid map and builds the map, including:

[0030] According to the grid map, the target point is reached by laser, ultrasound or depth camera navigation, and a map is built.

[0031] A second aspect of the present disclosure provides a robot mapping device, comprising:

[0032] The generating unit is used to generate a grid map according to a preset frequency.

[0033] An acquisition unit is used to acquire the grid map.

[0034] A mapping unit is used to reach a target point according to the grid map and build a map.

[0035] Furthermore, the robot mapping device further includes:

[0036] A clipping unit is used to clip the grid map.

[0037] A third aspect of the present disclosure provides an electronic device, 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 method when executing the computer program.

[0038] A fourth aspect of the present disclosure provides a computer-readable storage medium, 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 method are implemented.

[0039] The present disclosure provides a robot mapping method, device, electronic device and medium, including: generating a grid map according to a preset frequency; acquiring the grid map; reaching a target point according to the grid map and mapping. Compared with the prior art, the present disclosure generates a grid map first, navigates to the target point according to the grid map, and then starts mapping. There is no need for manual robot mapping, which not only saves labor costs, but also, except for the target point that is manually set, everything else is automatic, with a high degree of automation, which also greatly improves the accuracy of mapping.

[0040] In addition, the present disclosure crops the grid map, cropping the original larger map to 20 meters × 20 meters, reducing the amount of calculation and saving computing resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, 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 disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 A schematic diagram of a robot mapping method flow in an embodiment of the present disclosure;

[0043] Figure 2 This is a schematic diagram of another robot mapping method flow in an embodiment of the present disclosure;

[0044] Figure 3 A schematic diagram of a grid map in an embodiment of the present disclosure;

[0045] Figure 4 A schematic diagram of the structure of a robot mapping device according to an embodiment of the present disclosure;

[0046] Figure 5 It is a schematic diagram of the structure of another robot mapping device in an embodiment of the present disclosure;

[0047] Figure 6 The present invention is a schematic diagram of the structure of a robot mapping electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0049] Unless otherwise defined, all technical and scientific terms used in the present disclosure have the same meanings as those commonly understood by technicians in the field of the present disclosure; the terms used in the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the terms "including" and "having" and any variations thereof in the specification and claims of the present disclosure and the above-mentioned drawings, and are intended to cover non-exclusive inclusions.

[0050] In the description of the embodiments of the present disclosure, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present disclosure, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0051] In the description of the embodiments of the present disclosure, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0052] In the description of the embodiments of the present disclosure, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0053] In the description of the embodiments of the present disclosure, the orientations or positional relationships indicated by technical terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", and "circumferential" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the embodiments of the present disclosure and simplifying the description. They do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the embodiments of the present disclosure.

[0054] In the description of the embodiments of the present disclosure, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to the specific circumstances.

[0055] Example 1

[0056] The present disclosure provides a robot mapping method, such as Figure 1 As shown, including:

[0057] 101. Generate a grid map according to a preset frequency.

[0058] Preset frequency: the number of times a grid map is generated per unit time, in Hertz. This embodiment does not limit the specific preset frequency, and in other embodiments, the implementer can determine it according to their own needs, such as 1 Hertz, 2 Hertz, etc. This embodiment only takes 1 Hertz as an example for a simple description, where 1 Hertz means that a grid map is generated once within 1 second.

[0059] Raster map: also known as Digital Raster Graphic (DRG): It is a raster data set that is consistent with the topographic map in content, geometric accuracy and color after scanning, geometric correction and color correction of existing paper and film topographic maps. Figure 1Generally, it is obtained by directly converting the format of the vector digital line map, so it is consistent with the basic scale topographic map in terms of content, geometric accuracy and color. Simply put, a digital raster map is a line map converted from vector formats such as SHP, DWG, and DGN. Raster maps can be used as a background for data reference or to measure and fit other geographical related information. They are used for data collection, evaluation and updating of digital line maps (DLGs), and can also be integrated with digital orthophoto maps (DOMs), digital elevation models (DEMs) and other data information. New visual information is derived to extract and update map data and draw paper maps.

[0060] The method for generating a grid map in this embodiment is laser. Of course, in other embodiments, other forms of methods for generating a grid map may also be used. This embodiment only uses the method of generating a grid map by laser as an example for explanation.

[0061] 102. Obtain the grid map.

[0062] When the raster map is published, get the raster map.

[0063] 103. Arrive at the target point according to the grid map and build a map.

[0064] The target point is the starting point of the map, which is set manually. The robot reaches the target point based on the grid map, through laser, ultrasound or depth camera navigation, and builds the map. Mapping is the process of using the sensor data on the robot to build a spatial model of its surrounding environment. The map is used for robot positioning and navigation, which is an important task for indoor robots.

[0065] It should be noted here that: for the detailed description of the components of this embodiment, reference can be made to the corresponding parts of other embodiments, which will not be repeated here.

[0066] The embodiment of the present disclosure provides a robot mapping method, comprising: generating a grid map according to a preset frequency; acquiring the grid map; reaching a target point according to the grid map and mapping. Compared with the prior art, the present disclosure generates a grid map first, navigates to the target point according to the grid map, and then starts mapping. There is no need for manual robot mapping, which not only saves labor costs, but also, except for the target point which is manually set, everything else is automatic, with a high degree of automation, which also greatly improves the accuracy of mapping.

[0067] Example 2

[0068] The present disclosure provides a robot mapping method, such as Figure 2 As shown, including:

[0069] 201. Generate a grid map according to a preset frequency.

[0070] The preset frequency is the number of times the grid map is generated in a unit time, and the unit is Hertz. In this embodiment, 1 Hertz is selected as the preset frequency, that is, the grid map is generated once every second.

[0071] Specifically, the methods of generating a raster map in this embodiment include laser mapping and visual mapping, wherein laser mapping includes 2D single-line laser mapping and multi-line laser mapping. In this embodiment, multi-line laser mapping LIO-SAM is selected as the method for generating a raster map in this disclosure, but the protection scope of this disclosure is not limited thereto. In other embodiments, the implementer may determine it according to his own needs.

[0072] Among them, visual mapping is mainly divided into three categories: monocular, binocular or multi-camera, and RGBD. In addition, visual SLAM combined with inertial measurement device IMU is also an important direction of current research and application. These mainstream SLAM architectures use traditional frame-type cameras or video cameras as visual information acquisition equipment. The visual mapping method of the embodiment of the present disclosure is orb-slam.

[0073] Raster map: also known as Digital Raster Graphic (DRG): It is a raster data set that is consistent with the topographic map in content, geometric accuracy and color after scanning, geometric correction and color correction of existing paper, film and other topographic maps. Figure 3 As shown, the white area is the feasible area, the black area represents obstacles such as walls, and the gray area represents unreachable areas.

[0074] 202. Obtain the grid map.

[0075] like Figure 3 As shown, a grid map is obtained, where the white area is the feasible area, the black area represents obstacles such as walls, and the gray area represents unreachable areas.

[0076] The size of the obtained raster map is generally the original size of the laser map, such as 500 meters x 500 meters. Since it would be a particularly heavy burden for the system to load such a large map, the original size of the raster map will be processed to reduce the loading and calculation amount.

[0077] 203. Crop the grid map.

[0078] like Figure 3 As shown, the original size of the raster map is cropped to the box size, which is generally 20 meters × 20 meters, to reduce the amount of loading and calculation.

[0079] 204. Arrive at the target point according to the grid map and create a map.

[0080] Among them, the target point is the starting point of the robot's map construction, which is set manually, such as Figure 3 As shown in the figure, the black dot is the target point.

[0081] According to the grid map, the target point is reached by laser, ultrasound or depth camera navigation, and a map is constructed. The navigation method here uses one of laser, ultrasound or depth camera. In this embodiment, ultrasound is used as the navigation method. In other embodiments, the implementer can select according to their own needs or scene conditions.

[0082] It should be noted here that: for the detailed description of the components of this embodiment, reference can be made to the corresponding parts of other embodiments, which will not be repeated here.

[0083] The embodiment of the present disclosure provides a robot mapping method, comprising: generating a grid map according to a preset frequency; acquiring the grid map; reaching a target point according to the grid map and mapping. Compared with the prior art, the present disclosure generates a grid map first, navigates to the target point according to the grid map, and then starts mapping. There is no need for manual robot mapping, which not only saves labor costs, but also, except for the target point which is manually set, everything else is automatic, with a high degree of automation, which also greatly improves the accuracy of mapping.

[0084] In addition, the present disclosure crops the grid map, cropping the original larger map to 20 meters × 20 meters, reducing the amount of calculation and saving computing resources.

[0085] Example 3

[0086] The present disclosure provides a robot mapping device, such as Figure 4 As shown, including:

[0087] The generating unit 31 is used to generate a grid map according to a preset frequency.

[0088] Preset frequency: the number of times a grid map is generated per unit time, in Hertz. This embodiment does not limit the specific preset frequency, and in other embodiments, the implementer can determine it according to their own needs, such as 1 Hertz, 2 Hertz, etc. This embodiment only takes 1 Hertz as an example for a simple description, where 1 Hertz means that a grid map is generated once within 1 second.

[0089] Raster map: also known as Digital Raster Graphic (DRG): It is a raster data set that is consistent with the topographic map in content, geometric accuracy and color after scanning, geometric correction and color correction of existing paper and film topographic maps. Figure 1Generally, it is obtained by directly converting the format of the vector digital line map, so it is consistent with the basic scale topographic map in terms of content, geometric accuracy and color. Simply put, a digital raster map is a line map converted from vector formats such as SHP, DWG, and DGN. Raster maps can be used as a background for data reference or to measure and fit other geographical related information. They are used for data collection, evaluation and updating of digital line maps (DLGs), and can also be integrated with digital orthophoto maps (DOMs), digital elevation models (DEMs) and other data information. New visual information is derived to extract and update map data and draw paper maps.

[0090] The method for generating a grid map in this embodiment is laser. Of course, in other embodiments, other forms of methods for generating a grid map may also be used. This embodiment only uses the method of generating a grid map by laser as an example for explanation.

[0091] The acquisition unit 32 is used to acquire the grid map.

[0092] When the raster map is published, get the raster map.

[0093] The mapping unit 33 is used to reach the target point according to the grid map and build a map.

[0094] The target point is the starting point of the map, which is set manually. The robot reaches the target point based on the grid map, through laser, ultrasound or depth camera navigation, and builds the map. Mapping is the process of using the sensor data on the robot to build a spatial model of its surrounding environment. The map is used for robot positioning and navigation, which is an important task for indoor robots.

[0095] The embodiment of the present disclosure provides a robot mapping device, including: a generation unit generates a grid map according to a preset frequency; an acquisition unit acquires the grid map; a mapping unit reaches a target point according to the grid map and builds a map. Compared with the prior art, the present disclosure generates a grid map first, navigates to the target point according to the grid map, and then starts mapping. There is no need for manual robot mapping, which not only saves labor costs, but also, except for the target point that is manually set, everything else is automatic, with a high degree of automation, which also greatly improves the accuracy of mapping.

[0096] Example 4

[0097] The present disclosure provides a robot mapping device, such as Figure 5 As shown, including:

[0098] The generating unit 41 is used to generate a grid map according to a preset frequency.

[0099] The preset frequency is the number of times the grid map is generated in a unit time, and the unit is Hertz. In this embodiment, 1 Hertz is selected as the preset frequency, that is, the grid map is generated once every second.

[0100] Specifically, the methods of generating a raster map in this embodiment include laser mapping and visual mapping, wherein laser mapping includes 2D single-line laser mapping and multi-line laser mapping. In this embodiment, multi-line laser mapping LIO-SAM is selected as the method for generating a raster map in this disclosure, but the protection scope of this disclosure is not limited thereto. In other embodiments, the implementer may determine it according to his own needs.

[0101] Among them, visual mapping is mainly divided into three categories: monocular, binocular or multi-camera, and RGBD. In addition, visual SLAM combined with inertial measurement device IMU is also an important direction of current research and application. These mainstream SLAM architectures use traditional frame-type cameras or video cameras as visual information acquisition equipment. The visual mapping method of the embodiment of the present disclosure is orb-slam.

[0102] Raster map: also known as Digital Raster Graphic (DRG): It is a raster data set that is consistent with the topographic map in content, geometric accuracy and color after scanning, geometric correction and color correction of existing paper, film and other topographic maps.

[0103] The acquisition unit 42 is used to acquire the grid map.

[0104] The size of the obtained raster map is generally the original size of the laser map, such as 500 meters x 500 meters. Since it would be a particularly heavy burden for the system to load such a large map, the original size of the raster map will be processed to reduce the loading and calculation amount.

[0105] The clipping unit 43 is used to clip the grid map.

[0106] The original size of the raster map is cropped to 20 meters × 20 meters to reduce the amount of loading and calculation.

[0107] The mapping unit 44 is used to reach the target point according to the grid map and build a map.

[0108] Among them, the target point is the starting point of the robot's map construction, which is set manually, such as Figure 3 As shown in the figure, the black dot is the target point.

[0109] According to the grid map, the target point is reached by laser, ultrasound or depth camera navigation, and a map is constructed. The navigation method here uses one of laser, ultrasound or depth camera. In this embodiment, ultrasound is used as the navigation method. In other embodiments, the implementer can select according to their own needs or scene conditions.

[0110] It should be noted here that: for the detailed description of the components of this embodiment, reference can be made to the corresponding parts of other embodiments, which will not be repeated here.

[0111] The embodiment of the present disclosure provides a robot mapping device, including: a generation unit generates a grid map according to a preset frequency; an acquisition unit acquires the grid map; a mapping unit reaches a target point according to the grid map and builds a map. Compared with the prior art, the present disclosure generates a grid map first, navigates to the target point according to the grid map, and then starts mapping. There is no need for manual robot mapping, which not only saves labor costs, but also, except for the target point that is manually set, everything else is automatic, with a high degree of automation, which also greatly improves the accuracy of mapping.

[0112] In addition, the cropping unit of the embodiment of the present disclosure crops the grid map, cropping the original larger map to 20 meters×20 meters, thereby reducing the amount of calculation and saving computing resources.

[0113] Example 5

[0114] The present disclosure provides a robot mapping electronic device, such as Figure 6 As shown, it includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above-mentioned robot mapping method when executing the computer program.

[0115] A processing device (e.g., a central processing unit, a graphics processing unit, etc.) 51 can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 52 or a program loaded from a storage device 58 into a random access memory (RAM) 53. Various programs and data required for the operation of the electronic device are also stored in the RAM 53. The processing device 51, the ROM 52, and the RAM 53 are connected to each other via a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0116] Typically, the following devices may be connected to the I / O interface 55: an input device 56 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 57 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 58 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 59. The communication device 59 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Figure 6 An electronic device having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead. Figure 6 Each block shown in the figure may represent one device, or may represent multiple devices as required.

[0117] In particular, according to some embodiments of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, some embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In some such embodiments, the computer program can be downloaded and installed from the network through the communication device 59, or installed from the storage device 58, or installed from the ROM 52. When the computer program is executed by the processing device 51, the above-mentioned functions defined in the method of some embodiments of the present disclosure are executed.

[0118] It should be noted here that: for the detailed description of the components of this embodiment, reference can be made to the corresponding parts of other embodiments, which will not be repeated here.

[0119] The embodiment of the present disclosure provides a robot mapping electronic device, comprising: generating a grid map according to a preset frequency; acquiring the grid map; reaching a target point according to the grid map and building a map. Compared with the prior art, the present disclosure generates a grid map first, navigates to the target point according to the grid map, and then starts building a map. There is no need for manual robot building, which not only saves labor costs, but also, except for the target point that is manually set, everything else is automatic, with a high degree of automation, which also greatly improves the accuracy of mapping.

[0120] In addition, the present disclosure crops the grid map, cropping the original larger map to 20 meters × 20 meters, reducing the amount of calculation and saving computing resources.

[0121] Example 6

[0122] An embodiment of the present disclosure provides a computer-readable storage medium for robot mapping, wherein a computer program is stored on the computer-readable storage medium. When the computer program is executed by one or more processors, the above-mentioned robot mapping method is implemented.

[0123] It should be noted that the computer-readable medium in some embodiments of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In some embodiments of the present disclosure, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In some embodiments of the present disclosure, the computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0124] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0125] The computer-readable medium may be included in the device, or may exist independently without being installed in the electronic device. The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device generates a grid map at a preset frequency, obtains the grid map, reaches a target point according to the grid map, and builds a map.

[0126] Computer program code for performing the operations of some embodiments of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0127] It should be noted here that: for the detailed description of the components of this embodiment, reference can be made to the corresponding parts of other embodiments, which will not be repeated here.

[0128] The embodiment of the present disclosure provides a computer-readable storage medium for robot mapping, including: generating a grid map at a preset frequency; acquiring the grid map; reaching a target point according to the grid map and mapping. Compared with the prior art, the present disclosure generates a grid map first, navigates to the target point according to the grid map, and then starts mapping. There is no need for manual robot mapping, which not only saves labor costs, but also, except for the target point that is manually set, everything else is automatic, with a high degree of automation, which also greatly improves the accuracy of mapping.

[0129] In addition, the present disclosure crops the grid map, cropping the original larger map to 20 meters × 20 meters, reducing the amount of calculation and saving computing resources.

[0130] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession 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 square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0131] The units described in some embodiments of the present disclosure may be implemented by software or hardware. The units described may also be set in a processor, for example, it may be described as: a processor includes a receiving unit, an information acquisition unit, a target determination unit, and a distribution unit. The names of these units do not constitute limitations on the units themselves in some cases.

[0132] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0133] The above descriptions are only some preferred embodiments of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) and the technical solutions formed.

[0134] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A robot mapping method, characterized in that: include: Generate a grid map according to the preset frequency; Obtaining the grid map; Reach the target point according to the grid map and build a map.

2. The robot mapping method according to claim 1, characterized in that: After obtaining the grid map, the method further includes: The grid map is clipped.

3. The robot mapping method according to claim 2, characterized in that: Clipping the grid map includes: The grid map is cropped to 20 meters × 20 meters.

4. The robot mapping method according to claim 1, characterized in that: The preset frequencies include: The preset frequency is 1 time / second.

5. The robot mapping method according to claim 1, characterized in that: Generate a grid map at a preset frequency, including: A raster map is generated by laser mapping at a preset frequency.

6. The robot mapping method according to claim 5, characterized in that: The laser mapping comprises: The laser mapping includes 2D single-line laser mapping and multi-line laser mapping.

7. The robot mapping method according to claim 6, characterized in that: The multi-line laser mapping comprises: The multi-line laser mapping is lio-sam.

8. The robot mapping method according to claim 1, characterized in that: Generate a grid map at a preset frequency, including: Generate raster maps through visual mapping at a preset frequency.

9. The robot mapping method according to claim 8, characterized in that: The visual mapping includes: The visual mapping is orb-slam.

10. The robot mapping method according to claim 1, characterized in that: The target points include: The target point is set artificially.

11. The robot mapping method according to claim 1, characterized in that: Reaching the target point according to the grid map and building a map includes: According to the grid map, the target point is reached by laser, ultrasound or depth camera navigation, and a map is built.

12. A robot mapping device, characterized in that: include: A generating unit, used for generating a grid map according to a preset frequency; An acquisition unit, used for acquiring the grid map; A mapping unit is used to reach a target point according to the grid map and build a map.

13. The robot mapping device according to claim 12, characterized in that: Also includes: A clipping unit is used to clip the grid map.

14. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 11 are implemented.

15. 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 method according to any one of claims 1 to 11 are implemented.

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