Map exploration method and device, computer readable storage medium and robot

Abstract

The invention belongs to the technical field of robots, and particularly relates to a map exploration method and device, a computer readable storage medium and a robot. The method comprises the following steps: screening a first boundary contour according to a preset first path width; wherein the first boundary contour is a boundary contour of the unknown area and a first passable area, and the first passable area is a known area determined by the first path width; searching an exploration representative point of the first boundary contour; wherein the exploration representative point of the first boundary contour is located in the first passable area; if the exploration representative point of the first boundary contour is searched, selecting a first target exploration representative point; wherein the first target exploration representative point is the exploration representative point of the first boundary contour with the highest priority; and controlling the robot to move to the first target exploration representative point for map exploration. Through the method, the exploration representative point with the highest priority can be selected for map exploration, so that blind exploration can be reduced, and the map exploration efficiency is effectively improved.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular, relates to a map exploration method, device, computer-readable storage medium, and robot. Background Art

[0002] With the development of science and technology, robots have been widely used in all walks of life. When used, robots can perform various tasks to help people reduce their burden. Usually, robots will explore and build maps when performing tasks or before performing tasks. However, robots in the prior art are prone to blind exploration, resulting in poor efficiency of map exploration. Summary of the invention

[0003] In view of this, the embodiments of the present application provide a map exploration method, device, computer-readable storage medium and robot to solve the problem in the prior art that robots are prone to blind exploration, resulting in poor efficiency of map exploration.

[0004] A first aspect of an embodiment of the present application provides a map exploration method, which may include:

[0005] Screening a first boundary contour according to a preset first path width; wherein the first boundary contour is a boundary contour between an unknown area and a first passable area, and the first passable area is a known area determined by the first path width;

[0006] Searching for an exploration representative point of the first junction contour; wherein the exploration representative point of the first junction contour is located in the first passable area;

[0007] If the exploration representative point of the first boundary contour is searched, a first target exploration representative point is selected; wherein the first target exploration representative point is the exploration representative point of the first boundary contour with the highest priority;

[0008] Control the robot to move to the first target exploration representative point to perform map exploration.

[0009] In a specific implementation of the first aspect, searching for the first boundary contour exploration representative point may include:

[0010] Selecting a contour representative point of the first junction contour; wherein the contour representative point of the first junction contour is located on the first junction contour;

[0011] Moving the contour representative point of the first junction contour toward the first passable area to obtain a contour offset point of the first junction contour;

[0012] If the contour offset point of the first junction contour meets a preset explorable condition, the contour offset point of the first junction contour is determined as an exploratory representative point of the first junction contour.

[0013] In a specific implementation of the first aspect, selecting the first target exploration representative point may include:

[0014] Sorting the exploration representative points of the first boundary contour according to the number of obstacles that the first connecting line passes through, to obtain a first sorting result; wherein the first connecting line is a connecting line between the exploration representative point of the first boundary contour and the robot;

[0015] If there is a candidate exploration representative point, the candidate exploration representative point is selected as the first target exploration representative point; wherein the candidate exploration representative point is the exploration representative point of the first boundary contour corresponding to the result with the highest priority in the first sorting result;

[0016] If there are at least two candidate exploration representative points, the candidate exploration representative points are sorted according to the distances between the candidate exploration representative points and the robot to obtain a second sorting result;

[0017] The candidate exploration representative point corresponding to the result with the highest priority in the second sorting result is selected as the first target exploration representative point.

[0018] In a specific implementation of the first aspect, the method may further include:

[0019] If the exploration representative point of the first intersection contour is not found, the second intersection contour is screened according to a preset second path width; wherein the second path width is smaller than the first path width, the second intersection contour is the intersection contour of the unknown area and the second passable area, and the second passable area is the known area determined by the second path width;

[0020] Searching for an exploration representative point of the second junction contour; wherein the exploration representative point of the second junction contour is located in the second passable area;

[0021] If the exploration representative point of the second junction contour is found, searching for the exploration representative point of the obstacle according to the exploration representative point of the second junction contour;

[0022] If the exploration representative point of the obstacle is found, a second target exploration representative point is selected; wherein the second target exploration representative point is the exploration representative point of the obstacle with the highest priority;

[0023] The robot is controlled to move to the second target exploration representative point to perform map exploration.

[0024] In a specific implementation of the first aspect, searching for the exploration representative point of the second boundary contour may include:

[0025] Selecting a contour representative point of the second junction contour; wherein the contour representative point of the second junction contour is located on the second junction contour;

[0026] Moving the contour representative point of the second junction contour toward the second passable area to obtain a contour offset point of the second junction contour;

[0027] If the contour offset point of the second junction contour satisfies the explorable condition, the contour offset point of the second junction contour is determined as an explorable representative point of the second junction contour.

[0028] In a specific implementation of the first aspect, searching for the exploration representative point of the obstacle according to the exploration representative point of the second boundary contour may include:

[0029] Determining a representative point of the obstacle contour according to the explored representative point of the second boundary contour and the planned path between the robot;

[0030] Moving the outline representative point of the obstacle toward the first passable area to obtain the outline offset point of the obstacle;

[0031] If the offset point of the obstacle's contour meets the explorable condition, the offset point of the obstacle's contour is determined as a representative point of the obstacle's contour.

[0032] In a specific implementation of the first aspect, after controlling the robot to move to the second target exploration representative point to perform map exploration, the method may further include:

[0033] Detecting whether there is an obstacle at a representative point of the obstacle contour;

[0034] If there is no obstacle at the representative point of the obstacle contour, the robot is controlled to move to the exploration representative point of the second boundary contour to perform map exploration.

[0035] A second aspect of an embodiment of the present application provides a map exploration device, which may include:

[0036] A junction contour screening module, used for screening a first junction contour according to a preset first path width; wherein the first junction contour is a junction contour between an unknown area and a first passable area, and the first passable area is a known area determined by the first path width;

[0037] A representative point search module, used to search for an exploration representative point of the first junction contour; wherein the exploration representative point of the first junction contour is located in the first passable area;

[0038] A representative point selection module, configured to select a first target exploration representative point if an exploration representative point of the first boundary contour is found; wherein the first target exploration representative point is an exploration representative point of the first boundary contour with the highest priority;

[0039] The map exploration module is used to control the robot to move to the first target exploration representative point to perform map exploration.

[0040] In a specific implementation of the second aspect, the representative point search module may include:

[0041] A representative point selection unit, used for selecting a contour representative point of the first junction contour; wherein the contour representative point of the first junction contour is located on the first junction contour;

[0042] an offset point acquisition unit, configured to move the contour representative point of the first junction contour toward the first passable area to obtain a contour offset point of the first junction contour;

[0043] The representative point determining unit is configured to determine the contour offset point of the first junction contour as an exploration representative point of the first junction contour if the contour offset point of the first junction contour satisfies a preset explorable condition.

[0044] In a specific implementation of the second aspect, the representative point selection unit may include:

[0045] A first sorting subunit is used to sort the exploration representative points of the first junction contour according to the number of obstacles that the first connecting line passes through, so as to obtain a first sorting result; wherein the first connecting line is a connecting line between the exploration representative point of the first junction contour and the robot;

[0046] A representative point determination subunit, configured to select a candidate exploration representative point as the first target exploration representative point if there is one; wherein the candidate exploration representative point is the exploration representative point of the first boundary contour corresponding to the result with the highest priority in the first sorting result;

[0047] A second sorting subunit is used for sorting the candidate exploration representative points according to the distances between the candidate exploration representative points and the robot to obtain a second sorting result if there are at least two candidate exploration representative points;

[0048] The representative point determination subunit is used to select the candidate exploration representative point corresponding to the result with the highest priority in the second sorting result as the first target exploration representative point.

[0049] In a specific implementation of the second aspect, the map exploration device may further include:

[0050] A first search module is used to search for an exploration representative point of the second junction contour; wherein the exploration representative point of the second junction contour is located in the second passable area;

[0051] A second search module, configured to search for an exploration representative point of an obstacle according to the exploration representative point of the second junction contour if the exploration representative point of the second junction contour is found;

[0052] A representative point selection module, configured to select a second target exploration representative point if the exploration representative point of the obstacle is found; wherein the second target exploration representative point is the exploration representative point of the obstacle with the highest priority;

[0053] A map exploration module is used to control the robot to move to the second target exploration representative point to perform map exploration.

[0054] In a specific implementation of the second aspect, the first search module may include:

[0055] A representative point selection unit, used for selecting a contour representative point of the second junction contour; wherein the contour representative point of the second junction contour is located on the second junction contour;

[0056] a representative point moving unit, used to move the contour representative point of the second junction contour toward the second passable area to obtain a contour offset point of the second junction contour;

[0057] The representative point determining unit is configured to determine the contour offset point of the second junction contour as an exploration representative point of the second junction contour if the contour offset point of the second junction contour satisfies the explorable condition.

[0058] In a specific implementation of the second aspect, the second search module may include:

[0059] a representative point determination unit, configured to determine a representative point of the outline of the obstacle according to the explored representative point of the second boundary outline and the planned path between the robot;

[0060] A representative point moving unit, used to move the outline representative point of the obstacle to the first passable area to obtain the outline offset point of the obstacle;

[0061] The representative point determination unit is used to determine the obstacle's outline offset point as the obstacle's outline representative point if the obstacle's outline offset point meets the explorable condition.

[0062] In a specific implementation of the second aspect, the map exploration device may further include:

[0063] An obstacle detection module is used to detect whether there is an obstacle at the representative point of the obstacle contour;

[0064] A map exploration module is used to control the robot to move to the exploration representative point of the second boundary contour to perform map exploration if there is no obstacle at the contour representative point of the obstacle.

[0065] A third aspect of an embodiment of the present application 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 any one of the above-mentioned map exploration methods are implemented.

[0066] A fourth aspect of an embodiment of the present application provides a robot 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 any one of the above-mentioned map exploration methods when executing the computer program.

[0067] A fifth aspect of an embodiment of the present application provides a computer program product, which, when executed on a robot, enables the robot to execute the steps of any one of the above-mentioned map exploration methods.

[0068] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the embodiments of the present application select the first junction contour according to the preset first path width; wherein the first junction contour is the junction contour between the unknown area and the first passable area, and the first passable area is the known area determined by the first path width; search for the exploration representative point of the first junction contour; wherein the exploration representative point of the first junction contour is located in the first passable area; if the exploration representative point of the first junction contour is searched, the first target exploration representative point is selected; wherein the first target exploration representative point is the exploration representative point of the first junction contour with the highest priority; control the robot to move to the first target exploration representative point for map exploration. Through the embodiments of the present application, the exploration representative point with the highest priority can be selected for map exploration, thereby reducing blind exploration and effectively improving the efficiency of map exploration. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0070] Figure 1 This is a flow chart of an embodiment of a map exploration method in an embodiment of the present application;

[0071] Figure 2 It is a schematic diagram of a known area in the shape of a ray;

[0072] Figure 3 is a schematic diagram of the junction outline;

[0073] Figure 4 A first schematic diagram of a search process for exploring representative points of a first junction contour;

[0074] Figure 5 A second schematic diagram of a search process for exploring representative points of a first boundary contour;

[0075] Figure 6 is a third schematic diagram of a search process for exploring representative points of a first junction contour;

[0076] Figure 7 A fourth schematic diagram of a search process for exploring representative points of a first junction contour;

[0077] Figure 8 A schematic diagram of the process of selecting representative points for the first objective exploration;

[0078] Fig. 9 is a schematic diagram of a dynamic obstacle;

[0079] Fig.10 Schematic diagram of the process of determining representative points of the obstacle contour;

[0080] Fig.11 A schematic diagram of obstacle detection for obstacle contour representative points;

[0081] Fig.12 This is the first schematic diagram of the map exploration process;

[0082] Fig.13 This is the second schematic diagram of the map exploration process;

[0083] Fig.14 This is a structural diagram of an embodiment of a map exploration device in an embodiment of the present application;

[0084] Fig.15This is a schematic block diagram of a robot in an embodiment of the present application. DETAILED DESCRIPTION

[0085] In order to make the purpose, features, and advantages of the invention of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described below are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0086] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0087] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0088] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0089] As used in this specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0090] In addition, in the description of the present application, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0091] With the development of science and technology, robots have been widely used in all walks of life. When used, robots can perform various tasks to help people reduce their burden. Usually, robots will explore and build maps when performing tasks or before performing tasks. However, robots in the prior art are prone to blind exploration, resulting in poor efficiency of map exploration.

[0092] In view of this, embodiments of the present application provide a map exploration method, device, computer-readable storage medium, and robot.

[0093] It should be noted that the executor of the method of the present application is a robot, specifically, it may include but is not limited to sweepers, scrubbers, inspection robots, guide robots, food delivery robots and other common robots in the prior art.

[0094] In actual applications, when exploring a map, the robot can use a variety of sensors to detect the surrounding environment and identify environmental information such as obstacles and rooms to build a map.

[0095] Specifically, in the embodiment of the present application, the robot can start from a certain point in the space to be explored, and build a preliminary map containing known areas, obstacles, and unknown areas through the point cloud data scanned by the preset laser radar. Figure 1 The steps shown further build a more complete map:

[0096] Step S101 : screening a first boundary contour according to a preset first path width.

[0097] The first boundary contour is a boundary contour between the unknown area and the first traversable area, and the first traversable area is a known area determined by the first path width.

[0098] It is understandable that the first path width can be specifically and situationally set according to actual needs, and this application does not limit this.

[0099] In the embodiment of the present application, the first path width can be preferably set to the body width of the robot, based on which the passable area of ​​the robot body (recorded as the first passable area) can be screened out, and the inaccessible area of ​​the robot body can be filtered out, for example, the known area whose entrance width is less than the body width, the gap whose width is less than the body width and other inaccessible areas of the body can be filtered out. Afterwards, the boundary contour of the unknown area and the first passable area can be confirmed as the first boundary contour.

[0100] In a specific implementation of the embodiment of the present application, before screening the first boundary contour, the ray-shaped known area detected by the laser radar can be filtered out; wherein the ray-shaped known area can be a known area with a width less than a preset area width threshold and a length greater than a preset area length threshold. For example, refer to Figure 2 , a ray-shaped known area A leaks out between the walls, and the width of the known area A is less than the area width threshold, and the length of the known area A is greater than the area length threshold, so the known area A can be filtered out to reduce interference with subsequent map exploration.

[0101] In another specific implementation of the embodiment of the present application, if the length of the first boundary contour between the unknown area and the first passable area is too short, the unknown area can be considered as a noise point or other area with little exploration significance, and the first boundary contour can be filtered out, such as Figure 3 As shown, the first junction contour 5 whose length is less than a preset junction contour length threshold can be filtered out to reduce interference with subsequent map exploration.

[0102] Step S102: Search for a representative exploration point of the first boundary contour.

[0103] When it is necessary to explore the map of an unknown area, in order to ensure the safety of the robot, the robot can be controlled to travel to the first passable area near the unknown area to explore the unknown area. Here, the exploration representative point of the first junction contour can be searched, and the robot can be controlled to travel to the exploration representative point of the first junction contour to explore the unknown area; wherein the exploration representative point of the first junction contour is located in the first passable area. Since the obstacles on the path where the robot travels to the exploration representative point of the first junction contour are known, they can be reasonably avoided to reduce unnecessary collisions during the exploration process.

[0104] Specifically, in the embodiment of the present application, the search process of exploring representative points of the first boundary contour may include the following steps:

[0105] Step S1021: Select a representative point of the first boundary contour.

[0106] In the embodiment of the present application, the contour representative point of the first boundary contour is located on the first boundary contour. Specifically, any point on the first boundary contour can be selected as the contour representative point of the first boundary contour.

[0107] In a specific implementation of the embodiment of the present application, a point with the shortest distance from the robot may be selected between the midpoint and two end points on the first boundary contour as a contour representative point of the first boundary contour.

[0108] In another specific implementation of the embodiment of the present application, the midpoint of the first junction contour may be preferably selected as the contour representative point of the first junction contour.

[0109] Step S1022: Move the contour representative point of the first boundary contour toward the first passable area to obtain the contour offset point of the first boundary contour.

[0110] In the embodiment of the present application, the contour representative point of the first boundary contour can be moved toward the first passable area along any direction to obtain the contour offset point of the first boundary contour.

[0111] In a specific implementation of an embodiment of the present application, the contour representative point of the first junction contour can be moved toward the first passable area in a specific direction to obtain the contour offset point of the first junction contour; wherein the specific direction can be the vertical direction of the first junction contour.

[0112] It should be noted that, in the implementation of the present application, the contour representative points of the first boundary contour can be gradually moved toward the first passable area according to the moving distance from small to large.

[0113] Step S1023: determine whether the contour offset point of the first boundary contour meets a preset explorable condition.

[0114] After the contour offset point of the first boundary contour is obtained, it can be determined whether the contour offset point of the first boundary contour satisfies a preset explorable condition.

[0115] In an embodiment of the present application, the explorable conditions can be considered from four aspects: the safety of the robot, the obstacle situation between the contour representative point of the first junction contour and the exploration representative point of the first junction contour, the computing resources of the robot and the detection range of the sensor, and the distance between the exploration representative point of the first junction contour and the current position of the robot.

[0116] It should be understood that if the robot moves to the exploration representative point of the first intersection contour and part of its body is located in the unknown area, the body may collide with obstacles in the unknown area, affecting the safety of the robot. Therefore, in the embodiment of the present application, it is necessary to take the exploration representative point of the first intersection contour as the center of the robot and the body of the robot is located in the first passable area, such as Figure 4 As shown. Therefore, when the robot navigates to the exploration representative point of the first junction contour, the robot body is located in the first passable area, thereby reducing unnecessary collisions during the map exploration process and ensuring the safety of the robot.

[0117] When the robot moves to the exploration representative point of the first intersection contour, it needs to be able to explore the unknown area at the exploration representative point. Therefore, in the embodiment of the present application, there should be no obstacles on the preset thickness connection line between the contour representative point of the first intersection contour and the exploration representative point of the first intersection contour, so that after the robot navigates to the exploration representative point of the first intersection contour, it can smoothly explore the unknown area without being blocked by obstacles. Please refer to Figure 5 , there is no obstacle on the connecting line with a thickness of d between the contour representative point of the first junction contour and the exploration representative point of the first junction contour, and the robot can scan the unknown area through the preset laser radar at the contour representative point of the first junction contour. Among them, the thickness of the connecting line between the contour representative point of the first junction contour and the exploration representative point of the first junction contour can be specific and situationally set according to actual conditions, and this application does not limit this. It can be preferably set to 15 cm here.

[0118] In addition, in the embodiment of the present application, the distance between the exploration representative point of the first boundary contour and the current position of the robot should be greater than the preset first distance threshold. If the distance between the exploration representative point of the first boundary contour and the current position of the robot is close, the robot may be able to explore the unknown area at the current position without moving to the exploration representative point of the first boundary contour to explore the unknown area. Figure 6 As shown, the distance between the contour offset point of the first intersection contour and the robot is less than the first distance threshold. At this time, the detection range of the robot can also cover part of the unknown area without moving to the contour offset point to explore the unknown area. Therefore, the contour offset point will not be selected as the exploration representative point of the first intersection contour.

[0119] It is also necessary to consider that, due to the limited computing resources of the robot and the detection distance of the sensor, the distance between the contour representative point of the first intersection contour and the exploration representative point of the first intersection contour should be less than or equal to the preset second distance threshold, so that the robot can smoothly explore the unknown area through the sensor when it is at the exploration representative point of the first intersection contour. Among them, the second distance threshold can be specific and situationally set according to actual needs, and the embodiments of the present application do not limit this.

[0120] In an embodiment of the present application, if the contour offset point of the first junction contour is taken as the center of the robot, the body of the robot is located in the first passable area; and there is no obstacle on the connecting line of preset thickness between the contour representative point of the first junction contour and the contour offset point of the first junction contour; and the distance between the contour offset point of the first junction contour and the current position of the robot is greater than a preset first distance threshold; and the distance between the contour representative point of the first junction contour and the contour offset point of the first junction contour is less than or equal to a preset second distance threshold, then it can be considered that the contour offset point of the first junction contour meets the explorable condition, and step S1024 and its subsequent steps can be executed.

[0121] If the distance between the contour representative point of the first junction contour and the contour offset point of the first junction contour is greater than the second distance threshold, it can be considered that the contour representative point has been moved a sufficiently far distance, but the corresponding exploration representative point is still not found. At this time, it can be confirmed that the exploration representative point of the first junction contour has not been searched, and step S1025 and its subsequent steps can be executed.

[0122] It is understandable that the explorable conditions can also be specified and situationally configured according to actual conditions, and this application does not limit this.

[0123] Step S1024: determine the contour offset point of the first boundary contour as the exploration representative point of the first boundary contour.

[0124] If the contour offset point of the first boundary contour meets the explorable condition, the contour offset point can be considered as an ideal navigation point for exploring the unknown area, and the contour offset point is confirmed as the exploration representative point of the first boundary contour. Through the contour offset point, the unknown area can be explored efficiently and safely.

[0125] It should be understood that, for each first boundary contour, the corresponding exploration representative point can be searched by the above method. Figure 7 For the first junction contour 1, its corresponding exploration representative point 1 can be searched; for the first junction contour 2, its corresponding exploration representative point 2 can be searched; for the first junction contour 3, since the distance between its corresponding contour offset point and the robot is less than the first distance threshold (not shown in the figure), the exploration representative point of the first junction contour 3 is not searched; for the first junction contour 4, its corresponding exploration representative point 4 can be searched.

[0126] Step S103: If the exploration representative point of the first boundary contour is found, the first target exploration representative point is selected.

[0127] In an embodiment of the present application, if the exploration representative point of the first boundary contour is searched, the exploration representative points of each first boundary contour can be prioritized, and the exploration representative point of the first boundary contour with the highest priority is selected as the first target exploration representative point.

[0128] Specifically, the exploration representative points of the first junction contour may be sorted according to the number of obstacles that the first connection line passes through to obtain a first sorting result; wherein the first connection line is a connection line between the exploration representative point of the first junction contour and the robot.

[0129] If there is a candidate exploration representative point, the candidate exploration representative point is selected as the first target exploration representative point; wherein the candidate exploration representative point is the exploration representative point of the first boundary contour corresponding to the result with the highest priority in the first sorting result.

[0130] If there are at least two candidate exploration representative points, the candidate exploration representative points are sorted according to the distances between the candidate exploration representative points and the robot to obtain a second sorting result.

[0131] Afterwards, the candidate exploration representative point corresponding to the result with the highest priority in the second sorting result may be selected as the first target exploration representative point.

[0132] In a specific implementation of an embodiment of the present application, the above two sortings are both in ascending order. In this way, the exploration representative point with the least obstacles between the robot and the closest distance to the robot can be selected as the first target exploration representative point.

[0133] It is understandable that if only one exploration representative point of the first boundary contour is searched, it can be directly selected as the first target exploration representative point.

[0134] For ease of understanding, the selection process of the first target exploration point in the embodiment of the present application will be described below with reference to the accompanying drawings.

[0135] See also Figure 8 (The five-pointed star in the figure represents an obstacle). The exploration representative points of the first junction contour can be sorted in ascending order according to the number of obstacles passed by the first connecting line to obtain a first sorting result. Among them, since the number of obstacles passed by the first connecting line 1 and the first connecting line 4 are both 0, the exploration representative point 1 and the exploration representative point 4 are both the exploration representative points of the first junction contour with the highest priority in the first sorting result. The exploration representative point 1 and the exploration representative point 4 can be recorded as candidate exploration representative points.

[0136] Since there are at least two candidate exploration representative points, the candidate exploration representative points can be sorted in ascending order according to the distance between the candidate exploration representative points and the robot to obtain the second sorting result. Figure 8Since the length d1 of the first connecting line 1 is greater than the length d2 of the first connecting line 4, the candidate exploration representative point with the highest priority in the second sorting result is the exploration representative point 4. At this time, the exploration representative point 4 can be selected as the first target exploration point.

[0137] Step S104: Control the robot to move to the first target exploration representative point to perform map exploration.

[0138] In an embodiment of the present application, a path planning can be performed on the robot according to the first target exploration representative point, and the robot can be controlled to move to the first target exploration representative point according to the planned path to perform map exploration.

[0139] It should be noted that if the exploration representative point of the first boundary contour is not found, it can be considered that there may be dynamic obstacles in the known area. Fig. 9 As shown in the figure, there are dynamic obstacles on the path between the known area A and the robot. If the first passable area is determined by the first path width, the known area A will be filtered out. At this time, the robot will not be able to explore the unknown area B adjacent to the known area A, resulting in omissions in the construction of the map. Therefore, when the exploration representative point of the first intersection contour cannot be found, a more relaxed screening condition can be set to filter the second intersection contour, and try to search for the second target exploration representative point to reduce the possibility of omissions in the map construction process.

[0140] Specifically, if the exploration representative point of the first boundary contour is not found, then after step S1023, the search process of the second target exploration representative point may include the following steps:

[0141] Step S1025 , screening the second boundary contour according to the preset second path width.

[0142] The second path width is smaller than the first path width, the second boundary contour is the boundary contour between the unknown area and the second passable area, and the second passable area is a known area determined by the second path width.

[0143] It is understandable that the second path width can be set to a value smaller than the first path width according to actual needs, and the present application does not make any specific limitation on this.

[0144] In the embodiment of the present application, the second path can be preferably set to half the width of the robot body, thereby screening out a passable area of ​​half the robot body (recorded as the second passable area). Afterwards, the boundary contour of the unknown area and the second passable area can be confirmed as the second boundary contour.

[0145] Step S1026: Search for exploration representative points of the second boundary contour.

[0146] Among them, the exploration representative point of the second intersection contour is located in the second passable area.

[0147] In the embodiment of the present application, a contour representative point of the second boundary contour may be selected. Specifically, any point on the second boundary contour may be selected as the contour representative point of the second boundary contour.

[0148] In a specific implementation of the embodiment of the present application, a point with the shortest distance from the robot may be selected between the midpoint and two end points on the second boundary contour as a contour representative point of the second boundary contour.

[0149] In another specific implementation of the embodiment of the present application, the midpoint on the second boundary contour may be preferably selected as the contour representative point of the second boundary contour.

[0150] Afterwards, the contour representative point of the second junction contour may be moved toward the second passable area to obtain the contour offset point of the second junction contour.

[0151] It should be noted that, in the implementation of the present application, the contour representative points of the second boundary contour can be gradually moved to the second passable area according to the moving distance from small to large.

[0152] After obtaining the contour offset point of the second junction contour, it can be determined whether the contour offset point of the second junction contour meets the explorable condition. If the contour offset point of the second junction contour meets the explorable condition, it can be determined that the exploration representative point of the second junction contour is searched.

[0153] Specifically, if the contour offset point of the second junction contour is taken as the center of the robot, the body of the robot is located in the second passable area; and there is no obstacle on the connecting line of preset thickness between the contour representative point of the second junction contour and the contour offset point of the second junction contour; and the distance between the contour offset point of the second junction contour and the current position of the robot is greater than the preset first distance threshold; and the distance between the contour representative point of the second junction contour and the contour offset point of the second junction contour is less than or equal to the preset second distance threshold, then it can be considered that the contour offset point of the second junction contour meets the explorable condition, and the contour offset point of the second junction contour is determined as the exploration representative point of the second junction contour, at this time step S1027 and its subsequent steps can be executed.

[0154] If the distance between the contour representative point of the second junction contour and the contour offset point of the second junction contour is greater than the second distance threshold, it can be considered that the contour representative point has been moved a sufficiently far distance, but the corresponding exploration representative point still cannot be found. At this time, it can be determined that the exploration representative point of the second junction contour has not been searched, and the map construction process is directly terminated.

[0155] Step S1027: Search for exploration representative points of obstacles based on the search for exploration representative points of the second boundary contour.

[0156] In the embodiment of the present application, it can be considered that there is an obstacle on the planned path between the exploration representative point of the second intersection contour and the robot, and the obstacle may be a dynamic obstacle. Specifically, the path between the exploration representative point of the second intersection contour and the robot can be planned to obtain a planned path; wherein the width of the planned path needs to be greater than or equal to the second path width; then, it can be considered that there is an obstacle at the intersection of the planned path and the first traversable area.

[0157] like Fig.10 As shown, after determining the exploration representative point (exploration representative point 1) of the second intersection contour, path planning can be performed on the path between the exploration representative point 1 and the robot to obtain a planned path; thereafter, it can be determined that there is an obstacle at the intersection of the planned path and the first passable area, and based on this, the contour representative point 2 of the obstacle can be determined.

[0158] After determining the representative point of the obstacle's contour, the representative point of the obstacle's contour can be moved to the first passable area with reference to the description of step S102 to obtain the obstacle's contour offset point. If the obstacle's contour offset point meets the explorable condition, the offset point is determined as the obstacle's exploration representative point. At this time, step S1028 and subsequent steps can be executed. If the distance between the obstacle's contour representative point and the obstacle's contour offset point is greater than the second distance threshold, it can be confirmed that the obstacle's exploration representative point has not been searched. At this time, the map construction process can be directly terminated.

[0159] Step S1028: Select a second target exploration representative point.

[0160] Specifically, the exploration representative points of the obstacles may be sorted according to the number of obstacles passed through by the second connection line to obtain a third sorting result; wherein the second connection line is a connection line between the exploration representative point of the obstacle and the robot.

[0161] If there is only one result with the highest priority in the third sorting results, the exploration representative point of the obstacle corresponding to the result with the highest priority is selected as the second target exploration representative point.

[0162] If there are at least two results with the highest priority in the third sorting result, the results with the highest priority in the third sorting result are sorted according to the distance between the robot and the robot to obtain a fourth sorting result.

[0163] The exploration representative point of the obstacle corresponding to the result with the highest priority in the fourth sorting result is selected as the second target exploration representative point.

[0164] In a specific implementation of an embodiment of the present application, the above two sortings are both in ascending order. In this way, the exploration representative point with the least obstacles between the robot and the closest distance to the robot can be selected as the second target exploration representative point.

[0165] It is understandable that if there is only one exploration representative point of an obstacle, it can be directly determined as the second target exploration representative point.

[0166] Step S1029: Control the robot to move to the second target exploration representative point to perform map exploration.

[0167] In the embodiment of the present application, the robot can be controlled to move to the second target exploration representative point, and detect whether there is an obstacle at the outline representative point of the obstacle.

[0168] If it is detected that there is no obstacle at the representative point of the obstacle contour, it can be considered that the obstacle that previously existed at the representative point of the obstacle contour is a dynamic obstacle. The dynamic obstacle has been cleared at this time, and the robot can be controlled to move to the exploration representative point of the second intersection contour to perform map exploration. Fig.11 As shown, obstacle detection can be performed on the obstacle's contour representative point (contour representative point 1) at the second target exploration representative point. If it is detected that there is no obstacle at contour representative point 1, the robot can be controlled to travel to the exploration representative point (exploration representative point 2) of the second boundary contour to perform map exploration of the unknown area B.

[0169] If an obstacle is detected at the representative point of the obstacle's contour, the above process can be repeated to search for the exploration representative point of the obstacle; if the exploration representative point of the obstacle is found, the second target exploration representative point can be selected; if the exploration representative point of the obstacle is not found, the map construction process can be ended directly.

[0170] In a specific implementation method of an embodiment of the present application, if an obstacle is detected at the representative point of the obstacle's contour, it can be considered that the obstacle is not a dynamic obstacle but a static obstacle. At this time, the obstacle can be marked as a static obstacle. When searching for the exploration representative point of the obstacle subsequently, there is no need to search for the exploration representative point of the static obstacle.

[0171] For ease of understanding, the map exploration method in the embodiment of the present application will be described below with reference to the accompanying drawings.

[0172] See also Fig.12, the robot starts to explore the map from point A, can screen the first boundary contour between the unknown area and the first passable area, and search for the first target exploration representative point. Since there are obstacles at the entrances of unknown area B and unknown area C, the entrance widths of unknown area B and unknown area C are smaller than the first path width, so the robot will not choose to explore unknown area B and unknown area C at this time, but will choose to explore the map of unknown area D where there are no obstacles at the entrance.

[0173] After completing the exploration of the unknown area D, if the map exploration process is ended directly, the map exploration of the unknown area B and the unknown area C will be missed, and a complete map cannot be constructed. Therefore, at this time, it can be considered that there may be dynamic obstacles on the path leading to the unknown area B and the unknown area C, so that the second boundary contour between the unknown area and the second passable area can be screened, and an attempt can be made to search for the second target exploration representative point.

[0174] When searching for the second target exploration representative point, the exploration representative point of the obstacle at the entrance of the unknown area B can be selected as the second target exploration representative point, and the second target exploration representative point can be moved to perform obstacle detection. At this time, since it is detected that there is still an obstacle at the second target exploration representative point, the second target exploration representative point can be searched again, and the exploration representative point of the obstacle at the entrance of the unknown area C can be selected as the second target exploration representative point.

[0175] In the process of going to the second target exploration representative point for map exploration, the dynamic obstacles near the unknown area B are cleared. After the exploration of the second target exploration representative point is completed, the exploration representative point of the obstacle at the entrance of the unknown area B can be selected as the second target exploration representative point, and the second target exploration representative point can be headed for map exploration; then, the following can be obtained: Fig.13 The finished map shown.

[0176] In summary, the embodiment of the present application selects the first junction contour according to the preset first path width; wherein the first junction contour is the junction contour between the unknown area and the first passable area, and the first passable area is the known area determined by the first path width; searches for the exploration representative point of the first junction contour; wherein the exploration representative point of the first junction contour is located in the first passable area; if the exploration representative point of the first junction contour is searched, the first target exploration representative point is selected; wherein the first target exploration representative point is the exploration representative point of the first junction contour with the highest priority; controls the robot to move to the first target exploration representative point for map exploration. Through the embodiment of the present application, the exploration representative point with the highest priority can be selected for map exploration, thereby reducing blind exploration and effectively improving the efficiency of map exploration.

[0177] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0178] Corresponding to a map exploration method described in the above embodiment, Fig.14 A structural diagram of an embodiment of a map exploration device provided in an embodiment of the present application is shown.

[0179] In an embodiment of the present application, a map exploration device may include:

[0180] The boundary contour screening module 1401 is used to screen a first boundary contour according to a preset first path width; wherein the first boundary contour is a boundary contour between an unknown area and a first passable area, and the first passable area is a known area determined by the first path width;

[0181] A representative point search module 1402 is used to search for an exploration representative point of the first boundary contour; wherein the exploration representative point of the first boundary contour is located in the first passable area;

[0182] The representative point selection module 1403 is used to select a first target exploration representative point if the exploration representative point of the first boundary contour is found; wherein the first target exploration representative point is the exploration representative point of the first boundary contour with the highest priority;

[0183] The map exploration module 1404 is used to control the robot to move to the first target exploration representative point to perform map exploration.

[0184] In a specific implementation of the embodiment of the present application, the representative point search module may include:

[0185] A representative point selection unit, used for selecting a contour representative point of the first junction contour; wherein the contour representative point of the first junction contour is located on the first junction contour;

[0186] an offset point acquisition unit, configured to move the contour representative point of the first junction contour toward the first passable area to obtain a contour offset point of the first junction contour;

[0187] The representative point determining unit is configured to determine the contour offset point of the first junction contour as an exploration representative point of the first junction contour if the contour offset point of the first junction contour satisfies a preset explorable condition.

[0188] In a specific implementation of the embodiment of the present application, the representative point selection unit may include:

[0189] A first sorting subunit is used to sort the exploration representative points of the first junction contour according to the number of obstacles that the first connecting line passes through, so as to obtain a first sorting result; wherein the first connecting line is a connecting line between the exploration representative point of the first junction contour and the robot;

[0190] A representative point determination subunit, configured to select a candidate exploration representative point as the first target exploration representative point if there is one; wherein the candidate exploration representative point is the exploration representative point of the first boundary contour corresponding to the result with the highest priority in the first sorting result;

[0191] A second sorting subunit is used for sorting the candidate exploration representative points according to the distances between the candidate exploration representative points and the robot to obtain a second sorting result if there are at least two candidate exploration representative points;

[0192] The representative point determination subunit is used to select the candidate exploration representative point corresponding to the result with the highest priority in the second sorting result as the first target exploration representative point.

[0193] In a specific implementation of the embodiment of the present application, the map exploration device may further include:

[0194] A first search module is used to search for an exploration representative point of the second junction contour; wherein the exploration representative point of the second junction contour is located in the second passable area;

[0195] A second search module, configured to search for an exploration representative point of an obstacle according to the exploration representative point of the second junction contour if the exploration representative point of the second junction contour is found;

[0196] A representative point selection module, configured to select a second target exploration representative point if the exploration representative point of the obstacle is found; wherein the second target exploration representative point is the exploration representative point of the obstacle with the highest priority;

[0197] A map exploration module is used to control the robot to move to the second target exploration representative point to perform map exploration.

[0198] In a specific implementation of the embodiment of the present application, the first search module may include:

[0199] A representative point selection unit, used for selecting a contour representative point of the second junction contour; wherein the contour representative point of the second junction contour is located on the second junction contour;

[0200] a representative point moving unit, used to move the contour representative point of the second junction contour toward the second passable area to obtain a contour offset point of the second junction contour;

[0201] The representative point determining unit is configured to determine the contour offset point of the second junction contour as an exploration representative point of the second junction contour if the contour offset point of the second junction contour satisfies the explorable condition.

[0202] In a specific implementation of the embodiment of the present application, the second search module may include:

[0203] a representative point determination unit, configured to determine a representative point of the outline of the obstacle according to the explored representative point of the second boundary outline and the planned path between the robot;

[0204] A representative point moving unit, used to move the outline representative point of the obstacle to the first passable area to obtain the outline offset point of the obstacle;

[0205] The representative point determination unit is used to determine the obstacle's outline offset point as the obstacle's outline representative point if the obstacle's outline offset point meets the explorable condition.

[0206] In a specific implementation of the embodiment of the present application, the map exploration device may further include:

[0207] An obstacle detection module is used to detect whether there is an obstacle at the representative point of the obstacle contour;

[0208] A map exploration module is used to control the robot to move to the exploration representative point of the second boundary contour to perform map exploration if there is no obstacle at the contour representative point of the obstacle.

[0209] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices, modules and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0210] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0211] Fig.15 A schematic block diagram of a robot provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0212] like Fig.15As shown, the robot 15 of this embodiment includes: a processor 150, a memory 151, and a computer program 152 stored in the memory 151 and executable on the processor 150. When the processor 150 executes the computer program 152, the steps in the above-mentioned map exploration method embodiments are implemented, for example Figure 1 Alternatively, when the processor 150 executes the computer program 152, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Fig.14 The functions of modules 1401 to 1404 are shown.

[0213] Exemplarily, the computer program 152 may be divided into one or more modules / units, which are stored in the memory 151 and executed by the processor 150 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 152 in the robot 15.

[0214] Those skilled in the art will understand that Fig.15 It is only an example of the robot 15 and does not constitute a limitation of the robot 15. The robot 15 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the robot 15 may also include input and output devices, network access devices, buses, etc.

[0215] The processor 150 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0216] The memory 151 may be an internal storage unit of the robot 15, such as a hard disk or memory of the robot 15. The memory 151 may also be an external storage device of the robot 15, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the robot 15. Further, the memory 151 may also include both an internal storage unit of the robot 15 and an external storage device. The memory 151 is used to store the computer program and other programs and data required by the robot 15. The memory 151 may also be used to temporarily store data that has been output or is to be output.

[0217] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0218] In the embodiments provided in the present application, it should be understood that the disclosed devices / robots and methods can be implemented in other ways. For example, the device / robot embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0219] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0220] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0221] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0222] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A map exploration method, characterized in that: include: Screening a first boundary contour according to a preset first path width; wherein the first boundary contour is a boundary contour between an unknown area and a first passable area, and the first passable area is a known area determined by the first path width; Searching for an exploration representative point of the first junction contour; wherein the exploration representative point of the first junction contour is located in the first passable area; If the exploration representative point of the first boundary contour is searched, a first target exploration representative point is selected; wherein the first target exploration representative point is the exploration representative point of the first boundary contour with the highest priority; Control the robot to move to the first target exploration representative point to perform map exploration.

2. The map exploration method according to claim 1, characterized in that: The searching for the first boundary contour exploration representative point includes: Selecting a contour representative point of the first junction contour; wherein the contour representative point of the first junction contour is located on the first junction contour; Moving the contour representative point of the first junction contour toward the first passable area to obtain the contour offset point of the first junction contour; If the contour offset point of the first junction contour meets a preset explorable condition, the contour offset point of the first junction contour is determined as an exploratory representative point of the first junction contour.

3. The map exploration method according to claim 2, characterized in that: The selecting the first target exploration representative point includes: Sorting the exploration representative points of the first boundary contour according to the number of obstacles that the first connecting line passes through, to obtain a first sorting result; wherein the first connecting line is a connecting line between the exploration representative point of the first boundary contour and the robot; If there is a candidate exploration representative point, the candidate exploration representative point is selected as the first target exploration representative point; wherein the candidate exploration representative point is the exploration representative point of the first boundary contour corresponding to the result with the highest priority in the first sorting result; If there are at least two candidate exploration representative points, the candidate exploration representative points are sorted according to the distances between the candidate exploration representative points and the robot to obtain a second sorting result; The candidate exploration representative point corresponding to the result with the highest priority in the second sorting result is selected as the first target exploration representative point.

4. The map exploration method according to claim 3, characterized in that: Also includes: If the exploration representative point of the first intersection contour is not found, the second intersection contour is screened according to a preset second path width; wherein the second path width is smaller than the first path width, the second intersection contour is the intersection contour of the unknown area and the second passable area, and the second passable area is the known area determined by the second path width; Searching for an exploration representative point of the second junction contour; wherein the exploration representative point of the second junction contour is located in the second passable area; If the exploration representative point of the second junction contour is found, searching for the exploration representative point of the obstacle according to the exploration representative point of the second junction contour; If the exploration representative point of the obstacle is found, a second target exploration representative point is selected; wherein the second target exploration representative point is the exploration representative point of the obstacle with the highest priority; The robot is controlled to move to the second target exploration representative point to perform map exploration.

5. The map exploration method according to claim 4, characterized in that: The searching for the exploration representative point of the second junction contour includes: Selecting a contour representative point of the second junction contour; wherein the contour representative point of the second junction contour is located on the second junction contour; Moving the contour representative point of the second junction contour toward the second passable area to obtain a contour offset point of the second junction contour; If the contour offset point of the second junction contour satisfies the explorable condition, the contour offset point of the second junction contour is determined as an explorable representative point of the second junction contour.

6. The map exploration method according to claim 5, characterized in that: The step of searching for the exploration representative point of the obstacle according to the exploration representative point of the second boundary contour includes: Determining a representative point of the obstacle contour according to the explored representative point of the second boundary contour and the planned path between the robot; Moving the outline representative point of the obstacle toward the first passable area to obtain the outline offset point of the obstacle; If the offset point of the obstacle's contour meets the explorable condition, the offset point of the obstacle's contour is determined as a representative point of the obstacle's contour.

7. The map exploration method according to any one of claims 4 to 6, characterized in that: After controlling the robot to move to the second target exploration representative point to perform map exploration, the method further includes: Detecting whether there is an obstacle at a representative point of the obstacle contour; If there is no obstacle at the representative point of the obstacle contour, the robot is controlled to move to the exploration representative point of the second boundary contour to perform map exploration.

8. A map exploration device, characterized in that: include: A junction contour screening module, used for screening a first junction contour according to a preset first path width; wherein the first junction contour is a junction contour between an unknown area and a first passable area, and the first passable area is a known area determined by the first path width; A representative point search module, used to search for an exploration representative point of the first junction contour; wherein the exploration representative point of the first junction contour is located in the first passable area; A representative point selection module, configured to select a first target exploration representative point if an exploration representative point of the first boundary contour is found; wherein the first target exploration representative point is an exploration representative point of the first boundary contour with the highest priority; The map exploration module is used to control the robot to move to the first target exploration representative point to perform map exploration.

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

10. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the map exploration method according to any one of claims 1 to 7 are implemented.

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