Environment detection method, device and equipment of robot and medium

Abstract

The invention discloses an environment detection method, device and equipment of a robot and a medium. The method comprises the steps that feature information in the environment is recognized according to a sensing element of the robot; comparing the consistency of the feature information and historical features; adding new features, different from the historical features, in the feature information to an environment feature library; and detecting the facility specification degree in the environment according to the environment feature library. By adopting the embodiment of the invention, according to the new features in the environment identified by the robot, the administrator determines to update the environment feature library according to the new features, or does not update the environment feature library, and restores the facility placement position in the environment according to the historical features. The robot can efficiently and conveniently assist the administrator in supervising the article placement in the environment, realizes the normative detection of the environment facilities in the task execution process of the robot, and is convenient for the administrator to timely process the facility placement behavior which does not meet the management requirements in the environment.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and in particular to a robot environment detection method, device, equipment and medium. Background Art

[0002] Robots usually perform corresponding tasks according to their own functions. For example, delivery robots have cargo compartments to hold goods to be delivered, and can implement path planning, autonomous navigation, or take elevators. In general, the task currently being executed is often performed with the highest priority, and it is difficult to take into account other events that need to be handled during the operation. For example, in a hotel environment, it is difficult for the administrator to know the location of facilities in the hotel environment in a timely manner, and cannot make corresponding adjustments based on the changed location of facilities. If the inspection robot is dispatched to detect the location of facilities in the environment, it will lead to a waste of resources. Therefore, how to use the robots operating in the environment to detect the location of facilities in the environment, so that the administrator can intervene in the non-compliant behavior in the environment in a timely manner has become an urgent problem to be solved. Summary of the invention

[0003] The present invention provides a robot environment detection method, device, equipment and medium, which solves the problem that an administrator cannot timely know the placement of facilities in the environment, resulting in management omissions.

[0004] According to a first aspect of the present invention, there is provided a robot environment detection method, the method comprising:

[0005] Identifying characteristic information in an environment according to the sensor element of the robot;

[0006] comparing the consistency of the feature information with historical features;

[0007] Adding new features in the feature information that are different from the historical features to an environmental feature library;

[0008] The standardization degree of facilities in the environment is detected according to the environment feature library.

[0009] According to a second aspect of the present invention, there is provided an environment detection device for a robot, the device comprising:

[0010] A recognition module, configured to recognize feature information in an environment according to a sensor element of the robot;

[0011] A comparison module, configured to compare the consistency of the feature information with the historical features;

[0012] an adding module, configured to add new features in the feature information that are different from the historical features to an environmental feature library;

[0013] The detection module is configured to detect the standardization degree of facilities in the environment based on the environmental feature library.

[0014] According to a third aspect of the present invention, there is provided an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor implements a robot environment detection method as described in any embodiment of the present invention.

[0015] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer instructions are used to enable the computer to execute a robot environment detection method as described in any embodiment of the present invention.

[0016] The present invention discloses a robot environment detection method, device, equipment and medium, the method comprising: identifying feature information in the environment according to the robot's sensor element; comparing the consistency of the feature information with historical features; adding new features in the feature information that are different from the historical features to an environment feature library; and detecting the degree of standardization of facilities in the environment according to the environment feature library. Using the embodiment of the present invention, according to the new features in the environment identified by the robot, the administrator determines to update the environment feature library according to the new features, or not to update the environment feature library, and restores the placement of facilities in the environment according to the historical features. It can efficiently and conveniently assist the administrator in supervising the placement of items in the environment, realize the robot's detection of the standardization of environmental facilities during the execution of tasks, and facilitate the administrator to promptly deal with the placement of facilities in the environment that do not meet management requirements.

[0017] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 is a schematic diagram of an application scenario in which a robot environment detection method according to an embodiment of the present invention can be implemented;

[0020] Figure 2is a schematic flow chart of a robot environment detection method provided according to an embodiment of the present invention;

[0021] Figure 3 is a schematic structural diagram of an environment detection device for a robot provided according to an embodiment of the present invention;

[0022] Figure 4 The block diagram is a block diagram of an electronic device used to implement a method for robot environment detection according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the solution of the present application, 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 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 should fall within the scope of protection of the present application.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] Figure 1 A schematic diagram of an application scenario of a robot environment detection method that can implement an embodiment of the present invention is provided. Figure 1 As shown, the computing device 110 can realize identifying feature information in the environment according to the sensor element of the robot; comparing the consistency of the feature information with the historical features; adding new features in the feature information that are different from the historical features to the environmental feature library; and detecting the degree of standardization of facilities in the environment according to the environmental feature library. It is worth noting that: Figure 1 The application scenario shown is an example of a robot environment detection method based on an embodiment of the present invention, but is not limiting.

[0026] It should be noted that the above-mentioned computing device 110 can be hardware or software. When the computing device 110 is hardware, it can be implemented as a distributed cluster consisting of multiple servers or terminal devices, or it can be implemented as a single server or a single terminal device. When the computing device 110 is embodied as software (for example, a program or system for controlling a robot), it can be installed in the hardware devices listed above. It can be implemented as multiple software or software modules for providing distributed services, for example, or it can be implemented as a single software or software module. No specific limitation is made here.

[0027] It should be understood that Figure 1 The number of computing devices in the embodiment is only illustrative. Any number of computing devices may be provided according to implementation requirements.

[0028] Embodiment 1

[0029] According to an embodiment of the present application, a robot environment detection method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than that shown here. Figure 2 As shown, the robot environment detection method includes the following steps: S210, S220 and S230.

[0030] S210, identifying characteristic information in the environment according to the sensor elements of the robot.

[0031] Optionally, identifying characteristic information in the environment based on the sensor elements of the robot includes: acquiring a moving path of the robot; collecting characteristic information of the robot in the moving path, the characteristic information including pictures and sensor data.

[0032] The sensor recognition element includes but is not limited to a laser radar and an image acquisition device (such as a camera); for example, when the camera captures an image in the environment, the robot's visual algorithm is combined to analyze and recognize feature information contained in the image.

[0033] S220: Compare the consistency between the feature information and the historical features.

[0034] Optionally, comparing the consistency of the feature information with the historical features includes: determining a new feature in the feature information that is different from the historical feature; and querying whether the new feature is reported to the inspection record of the environment on that day.

[0035] As an optional implementation, when the new feature has been reported to the inspection record of the environment on that day by other robots, the reporting of the feature information in the environment is ignored.

[0036] Furthermore, the area where the new feature is located and the comparison image in the area which has not been reported to the inspection record are sent to the administrator.

[0037] For example, the administrator can be informed through the official account, and the area where the new feature reported by the robot exists and the comparison image of the area can be fed back to the administrator. Optionally, the administrator determines whether to add the new feature to the environmental feature library based on the comparison image and the new feature of the corresponding area.

[0038] If the administrator determines that the new feature should not be added to the environmental feature detection library, then based on the information feedback from the robot including the area where the new feature is located and the comparison image in the area, the facility environment is restored in the area and the original placement of the facility is restored.

[0039] S230: Add new features in the feature information that are different from the historical features to an environmental feature library.

[0040] S240, detecting the degree of standardization of facilities in the environment according to the environmental feature library.

[0041] Optionally, detecting the degree of standardization of facilities in the environment based on the environmental feature library includes: updating the new features confirmed by the administrator to the environmental feature library; and comparing the placement of facilities in the environment based on the features in the updated environmental feature library.

[0042] Furthermore, the facility placement information in the environment is sent to the administrator; the administrator is notified to restore the facility placement in the environment according to the information in the updated environment feature library.

[0043] The present invention discloses a method for detecting an environment of a robot. The method comprises: identifying characteristic information in the environment according to the sensing element of the robot; comparing the consistency of the characteristic information with the historical characteristics; adding new features in the characteristic information that are different from the historical characteristics to the environmental characteristic library; and detecting the degree of standardization of facilities in the environment according to the environmental characteristic library. According to the embodiment of the present invention, based on the new features in the environment identified by the robot, the administrator determines to update the environmental characteristic library according to the new features, or not to update the environmental characteristic library, and restores the placement of facilities in the environment according to the historical features. It can efficiently and conveniently assist the administrator in supervising the placement of items in the environment, realize the detection of the standardization of environmental facilities by the robot during the execution of tasks, and facilitate the administrator to promptly deal with the placement of facilities in the environment that do not meet the management requirements.

[0044] Embodiment 2

[0045] According to an embodiment of the present invention, a schematic diagram of the structure of a robot environment detection device is provided, and the device can execute a robot environment detection method provided in the above embodiment 1. Figure 3 As shown, the device includes: an identification module 310, a comparison module 320, an addition module 330 and a detection module 340. Among them:

[0046] The recognition module 310 is configured to recognize feature information in the environment according to the sensor elements of the robot.

[0047] The comparison module 320 is configured to compare the consistency between the feature information and the historical features.

[0048] The adding module 330 is configured to add new features in the feature information that are different from the historical features to the environmental feature library.

[0049] The detection module 340 is configured to detect the standardization degree of facilities in the environment according to the environment feature library.

[0050] Optionally, the identification module 310 includes:

[0051] an acquisition unit, configured to acquire a moving path of the robot;

[0052] The collection unit is configured to collect feature information of the robot in the moving path, wherein the feature information includes pictures and sensor data.

[0053] Optionally, the comparison module 320 includes:

[0054] a determining unit configured to determine a new feature in the feature information that is different from the historical feature;

[0055] The query unit is configured to query whether the new feature is reported to the inspection record of the environment on that day.

[0056] Furthermore, the comparison module 320 further includes: sending the area where the new feature that has not been reported to the inspection record is located and the comparison image in the area to the administrator.

[0057] Optionally, the administrator determines whether to add the new feature to the environmental feature library based on the compared image and the new feature of the corresponding area.

[0058] Optionally, the detection module 340 includes:

[0059] an updating unit, configured to update the new feature confirmed by the administrator to the environment feature library;

[0060] The comparison unit is configured to compare the locations of facilities in the environment based on the features in the updated environment feature library.

[0061] Furthermore, the detection module 340 also includes:

[0062] A sending unit, configured to send the facility placement information in the environment to the administrator;

[0063] The restoration unit is configured to notify the administrator to restore the placement of facilities in the environment according to the information of the updated environment feature library.

[0064] The present invention discloses an environment detection device for a robot. The device comprises: an identification module, configured to identify feature information in the environment according to the sensor element of the robot; a comparison module, configured to compare the consistency of the feature information with the historical features; an addition module, configured to add new features in the feature information that are different from the historical features to the environment feature library; and a detection module, configured to detect the degree of standardization of facilities in the environment according to the environment feature library. According to the embodiment of the present invention, based on the new features in the environment identified by the robot, the administrator determines to update the environment feature library according to the new features, or not to update the environment feature library, and restores the placement of facilities in the environment according to the historical features. It can efficiently and conveniently assist the administrator in supervising the placement of items in the environment, realize the detection of the standardization of environmental facilities by the robot during the execution of tasks, and facilitate the administrator to promptly deal with the placement of facilities in the environment that do not meet the management requirements.

[0065] Embodiment 3

[0066] Reference below Figure 4 , which shows a block diagram of an electronic device 400 suitable for implementing an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0067] like Figure 4As shown, the electronic device 400 may include a processing device 410, which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 420 or a program loaded from a storage device 480 into a random access memory (RAM) 430. The processing device 410 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processing device 410 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processing device 410 performs the various methods and processes described above.

[0068] In the RAM 430, various programs and data required for the operation of the electronic device 400 are also stored. The processing device 410, the ROM 420, and the RAM 430 are connected to each other through a bus 440. An input / output (I / O) interface 450 is also connected to the bus 440.

[0069] Typically, the following devices may be connected to the I / O interface 450: an input device 460 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 470 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 480 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 490. The communication device 490 may allow the electronic device 400 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 4 The electronic device 400 is shown with various devices, 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.

[0070] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a non-transient computer-readable medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through a communication device 490, or installed from a storage device 480, or installed from a ROM 420. When the computer program is executed by the processing device 410, the above functions defined in the method of the embodiment of the present invention are executed. Alternatively, in other embodiments, the processing device 410 can be configured to execute the method by any other appropriate means (for example, by means of firmware): identifying feature information in the environment according to the sensor element of the robot; comparing the consistency of the feature information with the historical feature; adding new features in the feature information that are different from the historical feature to the environmental feature library; detecting the degree of standardization of facilities in the environment according to the environmental feature library.

[0071] Embodiment 4

[0072] The computer-readable medium of the present invention can be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium can 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 can 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 the present invention, a computer-readable storage medium can 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 the present invention, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal can 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.

[0073] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperTet TransferProtocol), 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.

[0074] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0075] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: identifies feature information in the environment based on the sensor elements of the robot; compares the consistency of the feature information with historical features; adds new features in the feature information that are different from the historical features to an environmental feature library; and detects the degree of standardization of facilities in the environment based on the environmental feature library.

[0076] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, 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 through 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).

[0077] 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 invention. 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 alternative implementations, 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 the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0078] The modules involved in the embodiments of the present invention may be implemented by software or hardware, wherein the name of a module does not limit the module itself in some cases.

[0079] 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: digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof, etc.

[0080] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0081] In the context of the present invention, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, 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 foregoing.

[0082] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0083] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by 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), a blockchain network, and the Internet.

[0084] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services. The server may also be a server of a distributed system, or a server combined with a blockchain.

[0085] Artificial intelligence is a discipline that studies how to use computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.). It includes both hardware-level and software-level technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, and big data processing; artificial intelligence software technologies mainly include computer vision technology, speech recognition technology, natural language processing technology, machine learning / deep learning technology, big data processing technology, knowledge graph technology, and other major directions.

[0086] Cloud computing refers to a technology system that uses network access to elastically scalable shared physical or virtual resource pools. Resources can include servers, operating systems, networks, software, applications, and storage devices, and can be deployed and managed on demand and in a self-service manner. Cloud computing technology can provide efficient and powerful data processing capabilities for technical applications such as artificial intelligence and blockchain, as well as model training.

[0087] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution provided by the present invention can be achieved, and this document does not limit this.

[0088] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot environment detection method, characterized in that: The method comprises: Identifying characteristic information in an environment according to the sensor element of the robot; comparing the consistency of the feature information with historical features; Adding new features in the feature information that are different from the historical features to an environmental feature library; The standardization degree of facilities in the environment is detected according to the environment feature library.

2. The method according to claim 1, characterized in that: The identifying characteristic information in the environment according to the sensor element of the robot comprises: Obtaining a moving path of the robot; Collect characteristic information of the robot in the moving path, wherein the characteristic information includes pictures and sensor data.

3. The method according to claim 1, characterized in that The comparing the consistency between the feature information and the historical features includes: determining a new feature in the feature information that is different from the historical feature; Check whether the new feature is reported to the inspection record of the environment on that day.

4. The method according to claim 3, characterized in that Also includes: The area where the new feature is located and the comparison image in the area which has not been reported to the inspection record are sent to the administrator.

5. The method according to claim 4, characterized in that The administrator determines whether to add the new feature to the environmental feature library according to the compared image and the new feature of the corresponding area.

6. The method according to claim 1, characterized in that The detecting the standardization degree of facilities in the environment according to the environmental feature library includes: updating the new features confirmed by the administrator to the environmental feature library; Based on the features in the updated environment feature library, the locations of facilities in the environment are compared.

7. The method according to claim 6, characterized in that The method further comprises: Sending facility placement information in the environment to the administrator; The administrator is notified to restore the placement of facilities in the environment according to the information in the updated environment feature library.

8. A robot environment monitoring device, characterized in that: The device comprises: A recognition module, configured to recognize feature information in an environment according to a sensor element of the robot; A comparison module, configured to compare the consistency of the feature information with the historical features; an adding module, configured to add new features in the feature information that are different from the historical features to an environmental feature library; The detection module is configured to detect the standardization degree of facilities in the environment based on the environmental feature library.

9. The device according to claim 8, characterized in that The identification module comprises: an acquisition unit, configured to acquire a moving path of the robot; The collection unit is configured to collect feature information of the robot in the moving path, wherein the feature information includes pictures and sensor data.

10. The device according to claim 8, characterized in that The comparison module comprises: a determining unit configured to determine a new feature in the feature information that is different from the historical feature; The query unit is configured to query whether the new feature is reported to the inspection record of the environment on that day.

11. The device according to claim 10, characterized in that Also includes: The area where the new feature is located and the comparison image in the area which has not been reported to the inspection record are sent to the administrator.

12. The device according to claim 11, characterized in that The administrator determines whether to add the new feature to the environmental feature library according to the compared image and the new feature of the corresponding area.

13. The device according to claim 8, characterized in that The detection module comprises: an updating unit, configured to update the new feature confirmed by the administrator to the environment feature library; The comparison unit is configured to compare the locations of facilities in the environment based on the features in the updated environment feature library.

14. An electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor implements the method as described in any one of claims 1-7.

15. A computer-readable storage medium, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-7.

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