A map exploration method, device, computer readable storage medium and robot

Abstract

The application 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; the first boundary contour is a boundary contour of an unknown region and a first passable region, and the first passable region is a known region determined by the first path width; searching for an exploration representative point of the first boundary contour; the exploration representative point of the first boundary contour is located in the first passable region; if the exploration representative point of the first boundary contour is searched, a first target exploration representative point is selected; the first target exploration representative point is an exploration representative point of the first boundary contour with the highest priority; and the robot is controlled to move to the first target exploration representative point to perform map exploration. Through the above method, the exploration representative point with the highest priority can be selected to perform map exploration, so that blind exploration can be reduced, and the efficiency of map exploration can be effectively improved.

Description

TECHNICAL FIELD

[0001] The present application 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. BACKGROUND

[0002] With the development of science and technology, robots have been widely applied in various industries. In use, robots can perform various tasks to help people reduce burdens. Usually, robots will explore a map and build a map when performing a task or before performing a task. However, in the prior art, robots are prone to blind exploration, resulting in poor efficiency of map exploration. SUMMARY

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

[0004] A first aspect of the embodiments of the present application provides a map exploration method, which can include:

[0005] Filtering a first boundary contour according to a preset first path width; wherein the first boundary contour is a boundary contour of 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 boundary contour; wherein the exploration representative point of the first boundary 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] Controlling the robot to move to the first target exploration representative point for map exploration.

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

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

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

[0012] If the profile offset point of the first boundary profile satisfies a preset explorability condition, the profile offset point of the first boundary profile is determined as an exploration representative point of the first boundary profile.

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

[0014] The exploration representative points of the first boundary profile are sorted according to the number of the first connection lines passing through the obstacles, to obtain a first sorting result, where the first connection line is a connection line between the exploration representative point of the first boundary profile 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, where the candidate exploration representative point is an exploration representative point of the first boundary profile corresponding to a 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 distances between the candidate exploration representative points and the robot, to obtain a second sorting result;

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

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

[0019] If the exploration representative points of the first boundary profile are not searched, a second boundary profile is filtered according to a preset second path width, where the second path width is smaller than the first path width, the second boundary profile is a boundary profile of the unknown region and a second passable region, and the second passable region is a known region determined by the second path width;

[0020] Exploration representative points of the second boundary profile are searched, where the exploration representative points of the second boundary profile are located in the second passable region;

[0021] If the exploration representative points of the second boundary profile are searched, exploration representative points of obstacles are searched according to the exploration representative points of the second boundary profile;

[0022] If the exploration representative points of the obstacles are searched, a second target exploration representative point is selected, where the second target exploration representative point is an exploration representative point of the obstacles with the highest priority;

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

[0024] In an implementation form of the first aspect, the searching the exploration representative point of the second boundary contour can include:

[0025] selecting a contour representative point of the second boundary contour; wherein the contour representative point of the second boundary contour is located on the second boundary contour;

[0026] moving the contour representative point of the second boundary contour to the second passable region to obtain a contour offset point of the second boundary contour;

[0027] if the contour offset point of the second boundary contour satisfies the explorability condition, determining the contour offset point of the second boundary contour as the exploration representative point of the second boundary contour.

[0028] In an implementation form of the first aspect, the searching the exploration representative point of the obstacle can include:

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

[0030] moving the contour representative point of the obstacle to the first passable region to obtain a contour offset point of the obstacle;

[0031] if the contour offset point of the obstacle satisfies the explorability condition, determining the contour offset point of the obstacle as the contour representative point of the obstacle.

[0032] In an implementation form of the first aspect, after controlling the robot to move to the second target exploration representative point for map exploration, the method can further include:

[0033] detecting whether the contour representative point of the obstacle exists an obstacle;

[0034] if the contour representative point of the obstacle does not exist an obstacle, controlling the robot to move to the exploration representative point of the second boundary contour for map exploration.

[0035] A second aspect of the embodiments of the present application provides a map exploration device, which can include:

[0036] a boundary contour screening module configured to screen a first boundary contour according to a preset first path width; wherein the first boundary contour is a boundary contour of an unknown region and a first passable region, and the first passable region is a known region determined by the first path width;

[0037] The representative point searching module is configured 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.

[0038] The representative point selecting module is configured to select a first target exploration representative point if the exploration representative point of the first boundary contour is searched for, wherein the first target exploration representative point is the exploration representative point of the first boundary contour with the highest priority.

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

[0040] In an implementation manner of the second aspect, the representative point searching module can include:

[0041] The representative point selecting unit is configured to select a contour representative point of the first boundary contour, wherein the contour representative point of the first boundary contour is located on the first boundary contour.

[0042] The offset point obtaining unit is configured to move the contour representative point of the first boundary contour to the first passable area to obtain a contour offset point of the first boundary contour.

[0043] The representative point determining unit is configured to determine the contour offset point of the first boundary contour as the exploration representative point of the first boundary contour if the contour offset point of the first boundary contour meets a preset explorability condition.

[0044] In an implementation manner of the second aspect, the representative point selecting unit can include:

[0045] The first sorting subunit is configured to sort the exploration representative points of the first boundary contour according to a number of the first connection lines passing through obstacles to obtain a first sorting result, wherein the first connection line is a connection line between the exploration representative point of the first boundary contour and the robot.

[0046] The representative point determining subunit is configured to select the candidate exploration representative point as the first target exploration representative point if there is one candidate 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.

[0047] The second sorting subunit is configured to sort the candidate exploration representative points according to 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 configured 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 apparatus can further include:

[0050] The first search module is configured to search for an exploration representative point of the second boundary contour, wherein the exploration representative point of the second boundary contour is located in the second passable area.

[0051] The second search module is configured to, if the exploration representative point of the second boundary contour is searched for, search for an exploration representative point of an obstacle according to the exploration representative point of the second boundary contour.

[0052] The representative point selection module is configured to, if the exploration representative point of the obstacle is searched for, select a second target exploration representative point, wherein the second target exploration representative point is the exploration representative point of the obstacle with the highest priority.

[0053] The map exploration module is configured 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 can include:

[0055] The representative point selection unit is configured to select a contour representative point of the second boundary contour, wherein the contour representative point of the second boundary contour is located on the second boundary contour.

[0056] The representative point movement unit is configured to move the contour representative point of the second boundary contour to the second passable area to obtain a contour offset point of the second boundary contour.

[0057] The representative point determination unit is configured to, if the contour offset point of the second boundary contour satisfies the explorability condition, determine the contour offset point of the second boundary contour as the exploration representative point of the second boundary contour.

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

[0059] The representative point determination unit is configured to determine a contour representative point of the obstacle according to a planned path between the exploration representative point of the second boundary contour and the robot.

[0060] The representative point movement unit is configured to move the contour representative point of the obstacle to the first passable area to obtain a contour offset point of the obstacle.

[0061] The representative point determination unit is configured to determine the profile offset point of the obstacle as a profile representative point of the obstacle if the profile offset point of the obstacle satisfies the explorability condition.

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

[0063] The obstacle detection module is configured to detect whether the profile representative point of the obstacle exists.

[0064] The map exploration module is configured to control the robot to move to the exploration representative point of the second boundary profile for map exploration if the profile representative point of the obstacle does not exist.

[0065] The third aspect of the embodiments of the present application provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the steps of any of the above map exploration methods.

[0066] The fourth aspect of the embodiments of the present application provides a robot, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor implements the steps of any of the above map exploration methods when executing the computer program.

[0067] The fifth aspect of the embodiments of the present application provides a computer program product, which, when executed on a robot, causes the robot to perform the steps of any of the above map exploration methods.

[0068] Compared with the prior art, the embodiments of the present application have the beneficial effects that: the first boundary profile is filtered according to a preset first path width; the first boundary profile is a boundary profile of an unknown region and a first passable region, and the first passable region is a known region determined by the first path width; an exploration representative point of the first boundary profile is searched; the exploration representative point of the first boundary profile is located in the first passable region; if the exploration representative point of the first boundary profile is searched, a first target exploration representative point is selected; the first target exploration representative point is the exploration representative point of the first boundary profile with the highest priority; and the robot is controlled 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, so that blind exploration can be reduced, and the efficiency of map exploration can be effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0069] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor on the basis of these drawings.

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

[0071] Figure 2 A schematic diagram of a ray-shaped known region;

[0072] Figure 3 A schematic diagram of a boundary contour;

[0073] Figure 4 A first schematic diagram of a search process of an exploration representative point of a first boundary contour;

[0074] Figure 5 A second schematic diagram of a search process of an exploration representative point of a first boundary contour;

[0075] Figure 6 A third schematic diagram of a search process of an exploration representative point of a first boundary contour;

[0076] Figure 7 A fourth schematic diagram of a search process of an exploration representative point of a first boundary contour;

[0077] Figure 8 A schematic diagram of a selection process of a first target exploration representative point;

[0078] Figure 9 A schematic diagram of a dynamic obstacle;

[0079] Figure 10 A schematic diagram of a determination process of a contour representative point of an obstacle;

[0080] Figure 11 A schematic diagram of an obstacle detection of a contour representative point of an obstacle;

[0081] Figure 12 A first schematic diagram of a map exploration process;

[0082] Figure 13 A second schematic diagram of a map exploration process;

[0083] Figure 14 An embodiment structure diagram of a map exploration device in the present application;

[0084] Figure 15A schematic block diagram of a robot in an embodiment of the present application. DETAILED DESCRIPTION

[0085] To make the objectives, features, and advantages of the present application more clear and easy to understand, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the embodiments described below are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0086] It should be understood that, when used in the specification and the appended claims, the term “comprising” indicates the presence of the 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 the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification and the appended claims of the present application, the singular forms “a,” “an,” and “the” are intended to include the plural forms, unless the context clearly indicates otherwise.

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

[0089] As used in the specification and the appended claims of the present application, the term “if” can be interpreted as “when” or “upon” or “in response to a determination” or “in response to detecting” depending on the context. Similarly, the phrases “if determined” or “if detected [the described condition or event]” can be interpreted to mean “upon determining” or “in response to determining” or “upon detecting [the described condition or event]” or “in response to detecting [the described condition or event]” depending on the context.

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

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

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

[0093] It should be noted that the execution subject of the method of the present application is a robot, specifically, it can include but is not limited to a sweeping robot, a scrubber, a patrol robot, a guide robot, a meal delivery robot and other common robots in the prior art.

[0094] In actual application, when exploring a map, a robot can detect the surrounding environment through various sensors and identify environmental information such as obstacles and rooms, thereby building a map.

[0095] Specifically, in the embodiments of the present application, the robot can start from somewhere 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. Then, a more complete map can be further built according to the steps shown in the following figure: Figure 1

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

[0097] The first boundary contour is the boundary contour of the unknown area and the first passable area, and the first passable area is the known area determined by the first path width.

[0098] It can be understood that the first path width can be specified and contextualized according to actual needs, which is not limited in the present application.

[0099] In the embodiments of the present application, the first path width can be preferably set as the width of the robot body, and accordingly, the passable area of the robot body (denoted as the first passable area) can be filtered out, and the area that is not passable for the robot body is filtered out, for example, the known area with an entrance width less than the width of the robot body, the gap with a width less than the width of the robot body, and other areas that are not passable for the robot body. Then, 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 manner of the embodiment of the present application, the ray-shaped known region detected by the laser radar can be filtered before the first boundary contour is screened; wherein the ray-shaped known region can be a known region with a width less than a preset region width threshold and a length greater than a preset region length threshold. For example, please refer to Figure 2 , a ray-shaped known region A leaks out between the walls, and the width of the known region A is less than the region width threshold and the length of the known region A is greater than the region length threshold, so the known region A can be filtered to reduce the interference on the subsequent map exploration.

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

[0102] Step S102, searching for an exploration representative point of the first boundary contour.

[0103] When the unknown region needs to be explored, in order to ensure the safety of the robot, the robot can be controlled to travel to the first passable region near the unknown region to explore the unknown region. Here, the exploration representative point of the first boundary contour can be searched, and the robot can be controlled to travel to the exploration representative point of the first boundary contour to explore the unknown region; wherein the exploration representative point of the first boundary contour is located in the first passable region. Since the obstacle condition on the path of the robot traveling to the exploration representative point of the first boundary contour is known, the robot can reasonably avoid unnecessary collisions during the exploration.

[0104] Specifically, the searching process of the exploration representative point of the first boundary contour in the embodiment of the present application can include the following steps:

[0105] Step S1021, selecting a contour 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, and 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 manner of the embodiment of the present application, the point with the smallest distance between the robot and the midpoint and the two end points on the first boundary contour can be selected as the contour representative point of the first boundary contour.

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

[0109] In step S1022, the contour representative point of the first boundary contour is moved to the first passable area to obtain a 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 to the first passable area in any direction to obtain the contour offset point of the first boundary contour.

[0111] In one specific implementation manner of the embodiment of the present application, the contour representative point of the first boundary contour can be moved to the first passable area in a specific direction to obtain the contour offset point of the first boundary contour, and the specific direction can be the perpendicular direction of the first boundary contour.

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

[0113] In step S1023, it is determined whether the contour offset point of the first boundary contour satisfies a preset explorability condition.

[0114] After obtaining the contour offset point of the first boundary contour, it can be determined whether the contour offset point of the first boundary contour satisfies the preset explorability condition.

[0115] In the embodiment of the present application, the explorability condition can be considered from four aspects, i.e., the safety of the robot, the obstacle condition between the contour representative point of the first boundary contour and the exploration representative point of the first boundary contour, the computing resource and the detection range of the sensor of the robot, and the distance between the exploration representative point of the first boundary 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 boundary contour, part of the robot body is located in the unknown area, and the robot body may collide with the obstacle located in the unknown area, affecting the safety of the robot. Therefore, in the embodiment of the present application, it is required to satisfy that the robot body is located in the first passable area with the exploration representative point of the first boundary contour as the center of the robot, as shown in FIG. 8. Figure 4 Therefore, in the process of navigating the robot to the exploration representative point of the first boundary contour, the robot body is located in the first passable area, so that unnecessary collision in the map exploration process can be reduced, and the safety of the robot can be ensured.

[0117] When the robot moves to the exploration representative point of the first boundary 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 connection line with a preset roughness between the contour representative point of the first boundary contour and the exploration representative point of the first boundary contour, so that the robot can smoothly explore the unknown area after navigating to the exploration representative point of the first boundary contour without being blocked by obstacles. Please refer to Figure 5 , there is no obstacle on the connection line with a roughness of d between the contour representative point of the first boundary contour and the exploration representative point of the first boundary contour, and the robot can scan the unknown area through a preset laser radar at the contour representative point of the first boundary contour. Wherein, the roughness of the connection line between the contour representative point of the first boundary contour and the exploration representative point of the first boundary contour can be specified and contextualized according to actual conditions, which is not limited in the present application, and can be preferably set to 15 centimeters.

[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 a 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 can 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. As Figure 6 shown, the distance between the contour offset point of the first boundary contour and the robot is less than the first distance threshold, so 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, so the contour offset point will not be selected as the exploration representative point of the first boundary contour.

[0119] It also needs to be considered that due to the limited computing resources and sensor detection distance of the robot, the distance between the contour representative point of the first boundary contour and the exploration representative point of the first boundary contour should be less than or equal to a preset second distance threshold, so that the robot can smoothly explore the unknown area through the sensor at the exploration representative point of the first boundary contour. Wherein, the second distance threshold can be specified and contextualized according to actual needs, which is not limited in the present application.

[0120] In this embodiment, if the robot's body is located in the first passable area with the outline offset point of the first boundary contour as the robot's center; and there are no obstacles on the connecting line of a preset thickness between the outline representative point of the first boundary contour and the outline offset point of the first boundary contour; and the distance between the outline offset point of the first boundary contour and the robot's current position is greater than a preset first distance threshold; and the distance between the outline representative point of the first boundary contour and the outline offset point of the first boundary contour is less than or equal to a preset second distance threshold, then the outline offset point of the first boundary contour can be considered to meet the explorable condition, and step S1024 and subsequent steps can be executed.

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

[0122] It is understandable that the explorable conditions can be further specified and contextualized according to the actual situation, 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 conditions, then this contour offset point can be considered an ideal navigation point for exploring the unknown area, and it can be identified as the representative exploration point of the first boundary contour. Through this contour offset point, the unknown area can be explored efficiently and safely.

[0125] It is important to understand that for each first boundary contour, its corresponding representative exploration point can be searched using the method described above. For example, please refer to... Figure 7 For the first boundary contour 1, its corresponding exploration representative point 1 can be found; for the first boundary contour 2, its corresponding exploration representative point 2 can be found; for the first boundary 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), no exploration representative point for the first boundary contour 3 is found; for the first boundary contour 4, its corresponding exploration representative point 4 can be found.

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

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

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

[0129] If there is one 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 can be sorted according to the distances between the candidate exploration representative points and the robot, to obtain a second sorting result.

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

[0132] In a specific implementation manner of the embodiments of the present application, the above-mentioned two sorts are ascending sorts, and in this way, the exploration representative point with the least obstacles between the robot and the exploration representative point and the closest distance between the robot and the exploration representative point can be selected as the first target exploration representative point.

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

[0134] In order to facilitate understanding, the selection process of the first target exploration point in the embodiments of the present application will be described below in combination with the drawings.

[0135] Please refer to Figure 8 (illustrating a five-point star as an obstacle), the exploration representative points of the first boundary contour can be sorted in ascending order according to the number of the first connection lines passing through the obstacles, to obtain a first sorting result, wherein since the number of the first connection line 1 and the first connection line 4 passing through the obstacles is 0, the exploration representative point 1 and the exploration representative point 4 are both the exploration representative points of the first boundary contour with the highest priority in the first sorting result, and 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 distances between the candidate exploration representative points and the robot, to obtain a second sorting result. Please continue to refer to Figure 8Since the length d1 of the first connection line 1 is greater than the length d2 of the first connection line 4, the candidate exploration representative point with the highest priority in the second sorting result is the exploration representative point 4, and at this time, the exploration representative point 4 can be selected as the first target exploration point.

[0137] In step S104, the robot is controlled to move to the first target exploration representative point for map exploration.

[0138] In the embodiment of the present application, the robot can be path planned 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 for map exploration.

[0139] It should be noted that if the exploration representative point of the first boundary contour is not searched, it can be considered that there is a dynamic obstacle in the known region. For example, Figure 9 As shown in the figure, there is a dynamic obstacle on the path between the known region A and the robot, and if the first passable region is determined according to the first path width, the known region A will be filtered out, and at this time, the robot will not be able to explore the unknown region B adjacent to the known region A, resulting in some omissions in the construction of the map. Therefore, when the exploration representative point of the first boundary contour cannot be searched, a more relaxed screening condition can be set for screening the second boundary contour, and the second target exploration representative point is searched to reduce the possibility of omission in the map construction process.

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

[0141] In step S1025, the second boundary contour is screened according to a preset second path width.

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

[0143] It can be understood that the second path width can be set to a value smaller than the first path width according to actual needs, which is not limited in the present application.

[0144] In the embodiment of the present application, the second path can be preferably set to half of the body width of the robot, and accordingly, the passable region (denoted as the second passable region) of half of the robot body can be screened out. Then, the boundary contour of the unknown region and the second passable region can be confirmed as the second boundary contour.

[0145] In step S1026, the exploration representative point of the second boundary contour is searched.

[0146] The exploration representative point of the second boundary contour is located in the second passable area.

[0147] In the embodiments of the present application, the profile representative point of the second boundary contour can be selected, specifically, any point on the second boundary contour can be selected as the profile representative point of the second boundary contour.

[0148] In a specific implementation manner of the embodiments of the present application, the point with the smallest distance between the robot can be selected as the profile representative point of the second boundary contour between the midpoint and the two end points on the second boundary contour.

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

[0150] Then, the profile representative point of the second boundary contour can be moved to the second passable area to obtain a profile offset point of the second boundary contour.

[0151] It should be noted that in the present application, the profile representative point 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 profile offset point of the second boundary contour, it can be judged whether the profile offset point of the second boundary contour satisfies the explorability condition. If the profile offset point of the second boundary contour satisfies the explorability condition, it can be determined that the exploration representative point of the second boundary contour is searched.

[0153] Specifically, if the profile offset point of the second boundary 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 connection line with a preset roughness between the profile representative point of the second boundary contour and the profile offset point of the second boundary contour; and the distance between the profile offset point of the second boundary contour and the current position of the robot is greater than a preset first distance threshold; and the distance between the profile representative point of the second boundary contour and the profile offset point of the second boundary contour is less than or equal to a preset second distance threshold, it can be considered that the profile offset point of the second boundary contour satisfies the explorability condition, and the profile offset point of the second boundary contour is determined as the exploration representative point of the second boundary contour, at this time, step S1027 and subsequent steps can be executed.

[0154] If the distance between the profile representative point of the second boundary contour and the profile offset point of the second boundary contour is already greater than the second distance threshold, it can be considered that the profile representative point has been moved far enough, but the corresponding exploration representative point cannot be searched, at this time, it can be determined that the exploration representative point of the second boundary contour is not searched, and the process of map construction is directly ended.

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

[0156] In this embodiment, it can be assumed that there are obstacles on the planned path between the exploration representative point of the second boundary contour and the robot, and these obstacles may be dynamic obstacles. Specifically, path planning can be performed on the path between the exploration representative point of the second boundary contour and the robot to obtain a planned path; wherein, the width of the planned path needs to be greater than or equal to the width of the second path; then, it can be assumed that there are obstacles at the boundary between the planned path and the first passable area.

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

[0158] After determining the outline representative point of the obstacle, referring to the description of step S102, the outline representative point of the obstacle can be moved to the first passable area to obtain the outline offset point of the obstacle. If the outline offset point of the obstacle meets the explorable condition, the offset point is determined as the exploration representative point of the obstacle. At this time, step S1028 and subsequent steps can be executed. If the outline representative point of the obstacle and the outline offset point of the obstacle are greater than the second distance threshold, it can be confirmed that no exploration representative point of the obstacle has been found. At this time, the map construction process can be directly ended.

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

[0160] Specifically, the exploration representative points of obstacles can be sorted according to the number of obstacles that the second connecting line passes through, resulting in a third sorting result; where the second connecting line is the connecting line between the exploration representative points of the obstacles and the robot.

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

[0162] If there are at least two highest priority results in the third sorting result, then sort the highest priority results in the third sorting result according to their distance from the robot to obtain the fourth sorting result.

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

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

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

[0166] In step S1029, the robot is controlled to move to the second target exploration representative point to perform the 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 whether the contour representative point of the obstacle exists the obstacle can be detected.

[0168] If it is detected that the contour representative point of the obstacle does not exist the obstacle, it can be considered that the obstacle existing in the contour representative point of the obstacle is a dynamic obstacle, and the dynamic obstacle is emptied at this time, and then the robot can be controlled to move to the exploration representative point of the second boundary contour to perform the map exploration. As shown in FIG. 10, the obstacle detection can be performed on the contour representative point (contour representative point 1) of the obstacle at the second target exploration representative point, if it is detected that the contour representative point 1 does not exist the obstacle, the robot can be controlled to move to the exploration representative point (exploration representative point 2) of the second boundary contour to perform the map exploration on the unknown area B. Figure 11

[0169] If it is detected that the contour representative point of the obstacle exists the obstacle, the above process can be repeated to search the exploration representative point of the obstacle, if the exploration representative point of the obstacle is searched, the second target exploration representative point can be selected, and if the exploration representative point of the obstacle is not searched, the process of the map construction can be directly ended.

[0170] In a specific implementation manner of the embodiment of the present application, if it is detected that the contour representative point of the obstacle exists the obstacle, it can be considered that the obstacle is not a dynamic obstacle, but a static obstacle, and the obstacle can be marked as a static obstacle at this time, and when the exploration representative point of the obstacle is searched subsequently, the exploration representative point of the static obstacle does not need to be searched.

[0171] In order to facilitate understanding, the map exploration method in the embodiment of the present application will be described below in combination with the drawings.

[0172] Please refer to Figure 12 ​, the robot starts from A to explore the map, and a first boundary profile of the unknown region and the first passable region can be screened, and a first target exploration representative point can be searched. Since there is an obstacle at the entrance of the unknown region B and the unknown region C, the entrance width of the unknown region B and the unknown region C is less than the first path width, so the unknown region B and the unknown region C will not be selected to be explored at this time, and the unknown region D without an obstacle at the entrance will be selected to be explored.

[0173] After the exploration of the unknown region D is completed, if the process of the map exploration is directly ended, the map exploration of the unknown region B and the unknown region C will be missed, and a complete map cannot be constructed, therefore, at this time, it can be considered that there may be a dynamic obstacle on the path to the unknown region B and the unknown region C, so that a second boundary profile of the unknown region and the second passable region can be screened, and a second target exploration representative point can be searched.

[0174] In the search for the second target exploration representative point, the exploration representative point of the obstacle at the entrance of the unknown region B can be selected as the second target exploration representative point, and the second target exploration representative point can be reached to detect the obstacle. At this time, since it is detected that there is still an obstacle on 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 region C can be selected as the second target exploration representative point.

[0175] In the process of exploring the map to the second target exploration representative point, the dynamic obstacle near the unknown region B is removed, so 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 region B can be selected as the second target exploration representative point, and the second target exploration representative point can be reached to explore the map; then, a completed map as shown in FIG. 8B can be obtained. Figure 13

[0176] In summary, the embodiment of the present application screens the first boundary profile according to the preset first path width; the first boundary profile is the boundary profile of the unknown region and the first passable region, and the first passable region is a known region determined by the first path width; an exploration representative point of the first boundary profile is searched; the exploration representative point of the first boundary profile is located in the first passable region; if the exploration representative point of the first boundary profile is searched, a first target exploration representative point is selected; the first target exploration representative point is the exploration representative point of the first boundary profile with the highest priority; and the robot is controlled to move to the first target exploration representative point to explore the map. Through the embodiment of the present application, the exploration representative point with the highest priority can be selected to explore the map, so that blind exploration can be reduced, and the efficiency of map exploration can be effectively improved.

[0177] ​It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0178] A map exploration method corresponding to the above embodiment, Figure 14 An embodiment structure diagram of a map exploration device provided by an embodiment of the present application is shown.

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

[0180] The interface contour screening module 1401 is configured to screen a first interface contour according to a preset first path width; wherein the first interface contour is an interface contour of an unknown region and a first passable region, and the first passable region is a known region determined by the first path width;

[0181] The representative point searching module 1402 is configured to search for an exploration representative point of the first interface contour; wherein the exploration representative point of the first interface contour is located in the first passable region;

[0182] The representative point selecting module 1403 is configured to select a first target exploration representative point if the exploration representative point of the first interface contour is searched; wherein the first target exploration representative point is the exploration representative point of the first interface contour with the highest priority;

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

[0184] In a specific implementation manner of an embodiment of the present application, the representative point searching module can include:

[0185] The representative point selecting unit is configured to select a contour representative point of the first interface contour; wherein the contour representative point of the first interface contour is located on the first interface contour;

[0186] The offset point obtaining unit is configured to move the contour representative point of the first interface contour to the first passable region to obtain a contour offset point of the first interface contour;

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

[0188] In a specific implementation manner of an embodiment of the present application, the representative point selecting unit can include:

[0189] The first sorting subunit is configured to sort the exploration representative points of the first boundary contour according to the number of first connection lines passing through the obstacles, to obtain a first sorting result; wherein the first connection line is a connection line between the exploration representative points of the first boundary contour and the robot;

[0190] The representative point determination subunit is configured to select the candidate exploration representative point as the first target exploration representative point if there is one candidate 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;

[0191] The second sorting subunit is configured to sort 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 configured 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 manner of the embodiment of the present application, the map exploration device can further include:

[0194] The first search module is configured to search for the exploration representative points of the second boundary contour; wherein the exploration representative points of the second boundary contour are located in the second passable area;

[0195] The second search module is configured to search for the exploration representative points of the obstacles according to the exploration representative points of the second boundary contour if the exploration representative points of the second boundary contour are searched.

[0196] The representative point selection module is configured to select a second target exploration representative point if the exploration representative points of the obstacles are searched; wherein the second target exploration representative point is the exploration representative point of the obstacles with the highest priority.

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

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

[0199] The representative point selection unit is configured to select the contour representative points of the second boundary contour; wherein the contour representative points of the second boundary contour are located on the second boundary contour.

[0200] A representative point moving unit is configured to move a profile representative point of the second boundary profile to the second passable area to obtain a profile offset point of the second boundary profile.

[0201] A representative point determining unit is configured to determine the profile offset point of the second boundary profile as an exploration representative point of the second boundary profile if the profile offset point of the second boundary profile satisfies the explorability condition.

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

[0203] A representative point determining unit is configured to determine a profile representative point of the obstacle according to a planned path between the exploration representative point of the second boundary profile and the robot;

[0204] A representative point moving unit is configured to move the profile representative point of the obstacle to the first passable area to obtain a profile offset point of the obstacle;

[0205] A representative point determining unit is configured to determine the profile offset point of the obstacle as the profile representative point of the obstacle if the profile offset point of the obstacle satisfies the explorability condition.

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

[0207] An obstacle detecting module is configured to detect whether the profile representative point of the obstacle exists an obstacle;

[0208] A map exploration module is configured to control the robot to move to the exploration representative point of the second boundary profile to perform map exploration if the profile representative point of the obstacle does not exist an 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 foregoing method embodiments, which will not be described here.

[0210] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in a certain embodiment can be referred to the related description of other embodiments.

[0211] Figure 15 A schematic block diagram of a robot is shown, and only parts related to the embodiments of the present application are shown for the convenience of description.

[0212] As Figure 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. The processor 150 implements the steps in each of the above map exploration method embodiments when executing the computer program 152, for example Figure 1 As shown, the processor 150 implements the functions of each module / unit in each of the above apparatus embodiments when executing the computer program 152, for example Figure 14 As shown, the processor 150 implements the functions of each module / unit in each of the above apparatus embodiments when executing the computer program 152, for example

[0213] By way of example, the computer program 152 can be segmented into one or more modules / units stored in the memory 151 and executed by the processor 150 to accomplish the present application. The one or more modules / units can be a series of computer program instruction segments capable of accomplishing a specific function, which are used to describe the execution process of the computer program 152 in the robot 15.

[0214] Those skilled in the art can understand that, Figure 15 The robot 15 is merely an example and does not constitute a limitation on the robot 15, which can include more or fewer components than shown, or combine certain components, or different components, for example, the robot 15 can also include an input / output device, a network access device, a bus, etc.

[0215] The processor 150 can be a central processing unit (CPU), and can also be 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. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0216] The storage 151 can be an internal storage unit of the robot 15, such as a hard disk or a memory of the robot 15. The storage 151 can 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 storage 151 can also include both the internal storage unit and the external storage device of the robot 15. The storage 151 is used to store the computer program and other programs and data required by the robot 15. The storage 151 can also be used to temporarily store data that has been output or is to be output.

[0217] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or software. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be described 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 manners. For example, the device / robot embodiments described above are only schematic; the division of the modules or units is only a logical function division, and there can be another division manner in actual implementation; for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

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

[0220] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0221] The integrated module / unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on this understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. When the processor executes the computer program, the steps of each method embodiment described above can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms, etc. The computer readable storage medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content included 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, the computer readable storage medium does not include electric carrier signals and telecommunication signals.

[0222] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A map exploration method characterized by comprising: 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 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 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; controlling a robot to move to the first target exploration representative point for map exploration; if the exploration representative point of the first boundary contour is not searched, screening a second boundary contour according to a preset second path width, wherein the second path width is smaller than the first path width, the second boundary contour is a boundary contour of the unknown area and a second passable area, and the second passable area is a known area determined by the second path width; searching for an exploration representative point of the second boundary contour, wherein the exploration representative point of the second boundary contour is located in the second passable area; if the exploration representative point of the second boundary contour is searched, searching for an exploration representative point of an obstacle according to the exploration representative point of the second boundary contour; if the exploration representative point of the obstacle is searched, selecting a second target exploration representative point, wherein the second target exploration representative point is the exploration representative point of the obstacle with the highest priority; controlling the robot to move to the second target exploration representative point for map exploration.

2. The map exploration method according to claim 1, characterized by, The step of searching for the exploration representative point of the first boundary contour comprises the following steps: selecting a contour representative point of the first boundary contour, wherein the contour representative point of the first boundary contour is located on the first boundary contour; moving the contour representative point of the first boundary contour to the first passable area to obtain a contour offset point of the first boundary contour; if the contour offset point of the first boundary contour meets a preset explorability condition, determining the contour offset point of the first boundary contour as the exploration representative point of the first boundary contour.

3. The map exploration method according to claim 2, characterized by, The step of selecting the first target exploration representative point comprises the following steps: sorting the exploration representative points of the first boundary contour according to the number of first connection lines passing through obstacles to obtain a first sorting result, wherein the first connection line is a connection line between the exploration representative point of the first boundary contour and the robot; if there is a candidate exploration representative point, selecting the candidate exploration representative point 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, sorting the candidate exploration representative points according to the distance between the candidate exploration representative points and the robot to obtain a second sorting result; selecting 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.

4. The map exploration method according to claim 1, characterized by, The searching of the exploration representative point of the second boundary contour comprises: selecting a contour representative point of the second boundary contour; wherein the contour representative point of the second boundary contour is located on the second boundary contour; moving the contour representative point of the second boundary contour to the second passable area to obtain a contour offset point of the second boundary contour; if the contour offset point of the second boundary contour satisfies the preset explorability condition, the contour offset point of the second boundary contour is determined as the exploration representative point of the second boundary contour.

5. The map exploration method according to claim 4, characterized by, The searching of the exploration representative point of the second boundary contour comprises: determining a contour representative point of the obstacle according to the planned path between the exploration representative point of the second boundary contour and the robot; moving the contour representative point of the obstacle to the first passable area to obtain a contour offset point of the obstacle; if the contour offset point of the obstacle satisfies the explorability condition, the contour offset point of the obstacle is determined as the contour representative point of the obstacle.

6. The map exploration method according to any one of claims 1 to 5, characterized by, After controlling the robot to move to the second target exploration representative point for map exploration, the method further comprises: detecting whether the contour representative point of the obstacle exists obstacle; if the contour representative point of the obstacle does not exist obstacle, controlling the robot to move to the exploration representative point of the second boundary contour for map exploration.

7. A map exploration device characterized by comprising: The method comprises: a boundary contour screening module configured to screen a first boundary contour according to a preset first path width; wherein the first boundary contour is a boundary contour of 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 searching module configured 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; a representative point selecting module configured to select a first target exploration representative point if the exploration representative point of the first boundary contour is searched; wherein the first target exploration representative point is the exploration representative point of the first boundary contour with the highest priority; a map exploration module configured to control a robot to move to the first target exploration representative point for map exploration; a first searching module configured to screen a second boundary contour according to a preset second path width if the exploration representative point of the first boundary contour is not searched; wherein the second path width is smaller than the first path width, the second boundary contour is a boundary contour of the unknown area and a second passable area, and the second passable area is a known area determined by the second path width; and search for an exploration representative point of the second boundary contour; wherein the exploration representative point of the second boundary contour is located in the second passable area; a second searching module configured to search for an exploration representative point of the second boundary contour; wherein the exploration representative point of the second boundary contour is located in the second passable area; and search for an exploration representative point of an obstacle according to the exploration representative point of the second boundary contour if the exploration representative point of the second boundary contour is searched. The representative point selection module is configured to: if an exploration representative point of the second boundary contour is searched, search for an exploration representative point of an obstacle according to the exploration representative point of the second boundary contour; if the exploration representative point of the obstacle is searched, select a second target exploration representative point; and the second target exploration representative point is the exploration representative point of the obstacle with the highest priority. The map exploration module is further configured to control the robot to move to the second target exploration representative point to perform map exploration.

8. A computer-readable storage medium storing a computer program, the computer-readable storage medium comprising: The computer program, when executed by a processor, implements the steps of the map exploration method according to any one of claims 1 to 6.

9. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor, when executing the computer program, implements the steps of the map exploration method according to any one of claims 1 to 6.

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