Terrain exploration method, device and equipment for ground robot and storage medium

Abstract

The invention relates to the field of machine control, and provides a terrain exploration method and device for a ground robot, equipment and a storage medium. The method comprises the following steps: carrying out trafficability state marking on each region of an exploration state map, wherein trafficability states comprise an explored impassable state, an explored trafficable state and an unexplored state; in the exploration state map, determining a maximum square which contains the ground robot and only contains the explored area; safety degree evaluation is carried out on each unknown area; based on a preset exploration target and the safety degree of each unknown area, determining an optimal exploration route of the ground robot; and planning a safe exploration path of the ground robot according to the optimal exploration route, and controlling the ground robot to perform terrain exploration on an area with an unexplored state based on the safe exploration path. The method provided by the invention can improve the exploration efficiency of the ground robot.

Description

Technical Field

[0001] The present application relates to the field of machine control, and more specifically, to a terrain exploration method, device, equipment and storage medium for a ground robot. Background Art

[0002] With the development of robotics technology, robot autonomous exploration technology has received widespread attention. Robot autonomous exploration means that the robot can identify unknown areas in the current environment that have not been observed by sensors, and plan paths or behaviors to explore these unknown areas. Finally, the robot autonomously executes the path or behavior to reach the unknown area, and uses sensors to observe and complete the exploration task. Current robot autonomous exploration methods are mainly divided into two categories: boundary-based methods and sampling-based methods.

[0003] Boundary-based methods usually guide robots to explore unknown environments by extracting boundaries between known and unknown areas. The key to this type of method is to determine the order of visiting each map boundary. On the other hand, sampling-based methods guide robots to explore unknown environments by randomly selecting observation points, and use these observation points to expand random trees or graphs (RRT / RRG) to achieve robot exploration path planning. Although existing methods have achieved certain results in robot exploration of unknown environments, when faced with large-scale unknown environments, robots are prone to repeated exploration and repeated exploration of unknown areas, resulting in low exploration efficiency. In addition, existing research on autonomous exploration methods of ground robots mostly focuses on indoor scenes and flat terrain environments. In contrast, there are fewer studies on autonomous exploration in rugged terrain environments. Autonomous exploration of ground robots on rugged terrains must not only consider the issue of exploration efficiency, but also pay attention to the safety of robot navigation. In order to ensure the navigation safety of robots, existing methods introduce terrain accessibility analysis technology to ensure that robots avoid inaccessible areas. However, these methods only apply terrain accessibility information to the robot's obstacle avoidance process, and do not incorporate it into the design of exploration strategies, which may cause the robot to plan dangerous exploration paths or behaviors.

[0004] Therefore, the present application provides a terrain exploration method, device, equipment and storage medium for a ground robot to solve one of the above-mentioned technical problems. Summary of the invention

[0005] The purpose of this application is to provide a terrain exploration method, device, equipment and storage medium for a ground robot, which can solve at least one of the technical problems mentioned above.

[0006] The specific plan is as follows:

[0007] According to a specific implementation of the present application, in a first aspect, the present application provides a terrain exploration method for a ground robot, comprising:

[0008] Marking the passability status of each area of ​​the exploration status map, wherein the passability status includes an explored inaccessible state, an explored passable state, and an unexplored state; wherein the exploration status map includes at least the position coordinates of the ground robot; in the exploration status map, determining the largest square that contains the ground robot and only contains the explored area; wherein the explored area is an area with the explored inaccessible state or the explored passable state; performing safety assessment on each unknown area respectively; wherein the unknown area is an area with the unexplored state; determining the optimal exploration route of the ground robot based on the preset exploration target and the safety of each unknown area; planning the safe exploration path of the ground robot according to the optimal exploration route, and controlling the ground robot to perform terrain exploration of the unexplored area based on the safe exploration path.

[0009] In one embodiment, the exploration status map is a two-dimensional grid map; different grids in the exploration status map each correspond to the terrain accessibility status; the exploration status map is obtained based on local plane fitting of a three-dimensional point cloud map, and the three-dimensional point cloud map is collected and generated based on the ground robot.

[0010] In one embodiment, the marking of the terrain accessibility status of the exploration status map includes: for each grid of the exploration status map, performing accessibility scoring based on slope analysis and plane roughness analysis, and marking the grids that can complete the accessibility scoring as explored inaccessible states or explored accessible states according to a preset value range; in response to the inability to complete the accessibility scoring, marking the grids that cannot complete the accessibility scoring as unexplored states.

[0011] In one embodiment, the safety level includes high safety level, medium safety level, and low safety level; and the preset exploration goal includes only exploring unknown areas with high safety level and medium safety level.

[0012] In one implementation, the optimal exploration route is determined using the following formula:

[0013] Among them, r * represents the optimal exploration route, G(v) represents the robot along the route r i The exploration gain obtained after exploring the unknown area on the route, g k Represents the unknown area r k The area value of L(·) represents the area of ​​the robot along the route r iThe length of the path traveled after exploring the unknown area on the route, {r1,r2,...,r N} represents a set of N possible exploration routes that can be formed in the unknown area to be explored, and α and β are weight parameters.

[0014] According to a specific implementation of the present application, in a second aspect, the present application provides a terrain exploration device for a ground robot, comprising:

[0015] A marking module is used to mark the passability status of each area of ​​the exploration status map, and the passability status includes an explored inaccessible state, an explored passable state and an unexplored state; wherein the exploration status map at least includes the position coordinates of the ground robot; a determination module is used to determine the largest square that contains the ground robot and only contains the explored area in the exploration status map; wherein the explored area is an area with the explored inaccessible state or the explored passable state; an evaluation module is used to perform safety evaluation on each unknown area respectively; wherein the unknown area is an area with the unexplored state; the determination module is also used to determine the optimal exploration route of the ground robot based on a preset exploration target and the safety of each unknown area; a machine control module is used to plan a safe exploration path for the ground robot according to the optimal exploration route, and control the ground robot to perform terrain exploration on the area with the unexplored state based on the safe exploration path.

[0016] In one embodiment, the exploration status map is a two-dimensional grid map; different grids in the exploration status map each correspond to the terrain accessibility status; the exploration status map is obtained based on local plane fitting of a three-dimensional point cloud map, and the three-dimensional point cloud map is collected and generated based on the ground robot.

[0017] In one embodiment, the marking module marks the terrain accessibility status of the exploration status map in the following manner: for each grid of the exploration status map, a accessibility score is performed based on slope analysis and plane roughness analysis, and the grids that can complete the accessibility score are marked as explored inaccessible states or explored accessible states according to a preset value range; in response to the inability to complete the accessibility score, the grids that cannot complete the accessibility score are marked as unexplored states.

[0018] According to the specific implementation of the present application, in a third aspect, the present application provides an electronic device, comprising a memory, a processor, and a computer program stored on the memory, characterized in that the processor executes the computer program to implement any one of the methods described in the first aspect.

[0019] According to the specific implementation of the present application, in a fourth aspect, the present application provides a computer-readable storage medium having a computer program / instruction stored thereon, characterized in that when the computer program / instruction is executed by a processor, the method described in any one of the first aspects is implemented.

[0020] Compared with the prior art, the above solution of the embodiment of the present application has at least the following beneficial effects:

[0021] This application maintains an exploration status map and uses terrain accessibility information to enable the robot to distinguish between explored traversable areas, explored inaccessible areas, and unexplored areas, thereby avoiding entering inaccessible areas. In addition, by calculating the largest square to extract unknown areas, and assessing the risk level of unknown areas based on safety, the optimal exploration path is planned. This method not only improves exploration efficiency, but also enhances exploration safety, because the robot can avoid entering high-risk areas and give priority to exploring unknown areas that are both safe and important. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A flow chart of a terrain exploration method for a ground robot according to an embodiment of the present application is shown;

[0023] Figure 2 A flow chart of a method for marking the terrain accessibility status of an exploration status map according to an embodiment of the present application is shown;

[0024] Figure 3 A schematic diagram for evaluating the safety of an unknown area is shown;

[0025] Figure 4 A unit block diagram of a terrain exploration device for a ground robot according to an embodiment of the present application is shown;

[0026] Figure 5 It is a block diagram of an electronic device for terrain exploration of a ground robot according to an exemplary embodiment. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part 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 ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0028] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0029] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0030] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0031] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0032] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0033] It should be particularly noted that any symbols and / or numbers in the specification that are not marked in the accompanying drawings are not drawing marks.

[0034] The optional embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0035] The embodiment provided in this application is an embodiment of a terrain exploration method for a ground robot.

[0036] Combine the following Figure 1 The embodiments of the present application are described in detail.

[0037] Figure 1 A flow chart of a terrain exploration method for a ground robot according to an embodiment of the present application is shown. Figure 1 As shown, the following steps are included.

[0038] Step S101, marking the accessibility status of each area of ​​the exploration status map.

[0039] Among them, the passability status includes the explored impassable status, the explored passable status and the unexplored status.

[0040] The exploration state map at least includes the position coordinates of the ground robot.

[0041] Step S102: in the exploration state map, determine the largest square that contains the ground robot and only contains the explored area.

[0042] The explored area is an area that has been explored and is in an inaccessible state or an explored and accessible state.

[0043] Step S103: perform safety assessment on each unknown area.

[0044] Among them, the unknown area is an area that has not been explored.

[0045] Step S104, determining the optimal exploration route of the ground robot based on the preset exploration target and the safety of each unknown area.

[0046] Step S105 , planning a safe exploration path for the ground robot according to the optimal exploration route, and controlling the ground robot to perform terrain exploration on an unexplored area based on the safe exploration path.

[0047] This application maintains an exploration status map and uses terrain accessibility information to enable the robot to distinguish between explored traversable areas, explored inaccessible areas, and unexplored areas, thereby avoiding entering inaccessible areas. In addition, by calculating the largest square to extract unknown areas, and assessing the risk level of unknown areas based on safety, the optimal exploration path is planned. This method not only improves exploration efficiency, but also enhances exploration safety, because the robot can avoid entering high-risk areas and give priority to exploring unknown areas that are both safe and important.

[0048] In the embodiment of the present application, the exploration status map may be a two-dimensional grid map, and different grids in the exploration status map each correspond to a terrain accessibility status.

[0049] In one embodiment, the exploration state map is obtained based on local plane fitting of a three-dimensional point cloud map, and the three-dimensional point cloud map is collected and generated based on a ground robot.

[0050] The map construction method provided in this application facilitates the robot to understand and process complex terrain information, ensuring that the robot can more accurately identify traversable areas in unknown environments, thereby improving the efficiency and safety of exploration.

[0051] Figure 2 A flow chart of a method for marking the terrain accessibility status of an exploration status map according to an embodiment of the present application is shown. Figure 2 As shown, the following steps are included.

[0052] Step S201, for each grid of the exploration status map, a passability score is performed based on slope analysis and plane roughness analysis, and the grids that can complete the passability score are marked as explored inaccessible state or explored passable state according to a preset value range.

[0053] Step S202: In response to failure to complete the passability scoring, the grid for which the passability scoring cannot be completed is marked as an unexplored state.

[0054] In the embodiments of the present application, a reliable basis is provided to determine whether the terrain is suitable for passage, thereby enabling the robot to more intelligently select its exploration route, avoid unnecessary risky behavior, and ensure the safety of the robot's operation under complex terrain conditions.

[0055] In the embodiment of the present application, the safety level includes, for example, high safety, medium safety, and low safety. On this basis, the preset exploration goal includes only exploring unknown areas with high safety and medium safety. This method helps the robot avoid potential dangers and ensures its safety when performing exploration tasks, and also helps to improve the effectiveness and success rate of exploration activities.

[0056] In addition, in some other embodiments, the safety level can also be divided in other ways, for example, divided into seven levels from the first safety level to the seventh safety level according to the degree of danger. Similarly, the preset exploration target can also be adjusted according to actual needs. For example, the safety level includes high safety level, medium safety level, and low safety level. The preset exploration target can also be to explore only unknown areas with high safety level. At present, the above embodiments are only exemplary and this application does not limit this.

[0057] In the embodiment of the present application, the selectable exploration route can be i ={r1,r2,...,r N} indicates that, where 1 to N indicate N different unknown regions, and correspondingly, r1 to r NN different exploration routes are identified. Further, the optimal exploration route can be, for example, and Determine. Among them, r * represents the optimal exploration route, G(·) represents the robot along the route r i The exploration gain obtained after exploring the unknown area on the route, g k Represents the unknown area r k The area value of L(·) represents the area of ​​the robot along the route r i The length of the path traveled after exploring the unknown area on the route, {r1,r2,...,r N} represents a set of N possible exploration routes that can be formed in the unknown area to be explored, and α and β are weight parameters. In the above embodiment of the present application, the formula takes into account factors such as exploration gain, unknown area area and path length, so that the robot can balance the exploration benefit and path length during the exploration process, achieving an exploration result that is both efficient and safe.

[0058] Figure 3 A schematic diagram of evaluating the safety of an unknown area is shown.

[0059] For example, Figure 3 Contains four subgraphs numbered from 1 to 4, and the four subgraphs are sorted based on the order of occurrence. Figure 3 As shown, when the method is implemented, the three-dimensional point cloud map is first used as input, and a local plane is fitted on it. The terrain passability is judged by analyzing the slope and roughness of the fitted plane, and then a two-dimensional grid map is constructed. In this grid map, the state of each grid is marked as "explored and impassable", "explored and passable", or "unexplored". Next, the largest square is calculated on the exploration state map, with the robot's current position as the center and the resolution of the exploration state map as the expansion step of the square side length, and the square side length is gradually expanded until it is found that further expansion of the square will include a grid in the "unexplored" state, and the expansion is stopped. At this time, the square is used as the largest square. Unknown areas are extracted outside the maximum square.

[0060] Furthermore, the centroid of the unknown area is calculated, and the observation point of the unknown area is determined. The observation point is defined as a grid with the state of "explored and passable" that is adjacent to at least one grid in the "unexplored" state and at most zero grids in the "explored and impassable" state. By calculating the straight line segment connecting the centroid and the observation point, the exploration safety of the unknown area is marked according to the number of "explored and impassable" grids crossed by this straight line segment: if the number of grids crossed is zero, the exploration safety of the unknown area is marked as "high safety"; if the number is greater than zero, it is marked as "medium safety"; when the number of observation points is zero, it is marked as "low safety". On this basis, an exploration strategy with large area awareness can be used to plan the exploration route. This strategy is set to explore only unknown areas with "medium safety" and "high safety", and the optimal exploration route can be solved by a specific formula. This formula takes into account factors such as the exploration gain obtained by the robot exploring the unknown area along the route, the area value of the unknown area, the path length, and the possible exploration route set.

[0061] Furthermore, according to the first unknown area on the optimal exploration route and its exploration safety, if the exploration safety is "high safety", an exploration path from the current position of the robot to the center of mass of the unknown area is planned; if it is "medium safety", an exploration path to any observation point in the unknown area is planned. Finally, under the guidance of the safe exploration path, the robot can complete the exploration task of rugged terrain. In summary, this application not only avoids the robot from exploring inaccessible dangerous areas through the above process, but also the proposed exploration strategy enables the robot to give priority to exploring large unknown areas, while taking into account the exploration of small unknown areas nearby, thereby increasing the exploration rate and reducing the situation where the robot goes back and forth to explore, thereby significantly improving the exploration efficiency.

[0062] The device embodiment of the example is used to implement the method steps of the above embodiment. The explanation based on the same name meaning is the same as the above embodiment, and has the same technical effect as the above embodiment, and will not be repeated here.

[0063] Figure 4 A unit block diagram of a terrain exploration device for a ground robot according to an embodiment of the present application is shown.

[0064] like Figure 4 As shown, the present application provides a terrain exploration device 400 for a ground robot, comprising:

[0065] The marking module 401 is used to mark the passability status of each area of ​​the exploration status map, and the passability status includes an explored inaccessible state, an explored passable state, and an unexplored state. Among them, the exploration status map at least includes the position coordinates of the ground robot. The determination module 402 is used to determine the largest square that contains the ground robot and only contains the explored area in the exploration status map. Among them, the explored area is an area with an explored inaccessible state or an explored passable state. The evaluation module 403 is used to evaluate the safety of each unknown area respectively. Among them, the unknown area is an area with an unexplored state. The determination module 402 is also used to determine the optimal exploration route of the ground robot based on the preset exploration target and the safety of each unknown area. The machine control module 404 is used to plan the safe exploration path of the ground robot according to the optimal exploration route, and control the ground robot to perform terrain exploration on the area with an unexplored state based on the safe exploration path.

[0066] In one embodiment, the exploration state map is a two-dimensional grid map. Different grids in the exploration state map correspond to terrain accessibility states. The exploration state map is obtained based on local plane fitting of a three-dimensional point cloud map, and the three-dimensional point cloud map is collected and generated based on a ground robot.

[0067] In one embodiment, the marking module 401 marks the terrain accessibility status of the exploration status map in the following manner: for each grid of the exploration status map, a accessibility score is performed based on the slope analysis and the plane roughness analysis, and the grids that can complete the accessibility score are marked as explored inaccessible states or explored accessible states according to a preset value range. In response to the inability to complete the accessibility score, the grids that cannot complete the accessibility score are marked as unexplored states.

[0068] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0069] Figure 5 It is a block diagram of an electronic device 500 for terrain exploration of a ground robot according to an exemplary embodiment.

[0070] like Figure 5As shown, one embodiment of the present application provides an electronic device 500. The electronic device 500 includes a memory 501, a processor 502, and an input / output (I / O) interface 503. The memory 501 is used to store instructions. The processor 502 is used to call the instructions stored in the memory 501 to execute the method for terrain exploration of a ground robot in the embodiment of the present application. The processor 502 is connected to the memory 501 and the I / O interface 503, respectively, for example, through a bus system and / or other forms of connection mechanisms (not shown). The memory 501 can be used to store programs and data, including the program of the method for terrain exploration of a ground robot involved in the embodiment of the present application, and the processor 502 executes various functional applications and data processing of the electronic device 500 by running the program stored in the memory 501.

[0071] In the embodiment of the present application, the processor 502 can be implemented in at least one hardware form of a digital signal processor (Digital Signal Processing, DSP), a field programmable gate array (Field Programmable Gate Array, FPGA), and a programmable logic array (Programmable Logic Array, PLA). The processor 502 can be a central processing unit (Central Processing Unit, CPU) or one or a combination of other forms of processing units with data processing capabilities and / or instruction execution capabilities.

[0072] The memory 501 in the embodiment of the present application may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), flash memory, hard disk drive (HDD), or solid state drive (SSD), etc.

[0073] In the embodiment of the present application, the I / O interface 503 may be used to receive input instructions (such as digital or character information, and key signal input related to user settings and function control of the electronic device 500), and may also output various information to the outside (such as images or sounds). In the embodiment of the present application, the I / O interface 503 may include one or more of a physical keyboard, a function key (such as a volume control key, a switch key, etc.), a mouse, a joystick, a trackball, a microphone, a speaker, and a touch panel.

[0074] In some embodiments, the present application provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, any of the methods described above is performed.

[0075] In some embodiments, the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, any of the methods described above is performed.

[0076] Although operations are described in a particular order in the drawings, this should not be understood as requiring that the operations be performed in the particular order shown or in serial order, or that all shown operations be performed to achieve desired results. In certain circumstances, multitasking and parallel processing may be advantageous.

[0077] The methods and devices of the present application can be implemented using standard programming techniques, using rule-based logic or other logic to implement various method steps. It should also be noted that the words "device" and "module" used herein and in the claims are intended to include implementations using one or more lines of software code and / or hardware implementations and / or devices for receiving input.

[0078] Any steps, operations or procedures described herein may be performed or implemented using one or more hardware or software modules, either alone or in combination with other devices. In one embodiment, the software module is implemented using a computer program product including a computer-readable medium containing computer program code, which can be executed by a computer processor to perform any or all of the described steps, operations or procedures.

[0079] The foregoing description of the implementation of the present application has been given for the purpose of illustration and description. The foregoing description is not exhaustive nor is it intended to limit the present application to the exact form disclosed, and various variations and modifications may exist according to the above teachings or may be obtained from the practice of the present application. These embodiments are selected and described in order to illustrate the principles of the present application and its practical application, so that those skilled in the art can utilize the present application in various embodiments and various modifications suitable for the specific purpose contemplated.

[0080] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0081] It can be further understood that, unless otherwise specified, “connection” includes a direct connection without other components between the two, and also includes an indirect connection with other components between the two.

[0082] It is further understood that, although the operations are described in a specific order in the drawings in the embodiments of the present application, it should not be understood as requiring the operations to be performed in the specific order or serial order shown, or requiring the execution of all the operations shown to obtain the desired results. In certain environments, multitasking and parallel processing may be advantageous.

[0083] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to encompass any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the field of the present application that are not disclosed in the present application. The specification and embodiments are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following scope of rights.

[0084] It should be understood that the present application is not limited to the precise structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the scope of the appended claims.

[0085] The above embodiments 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, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these 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.

Claims

1. A terrain exploration method for a ground robot, characterized in that: The method comprises: Marking the traversability status of each area of ​​the exploration status map, wherein the traversability status includes an explored intraversable state, an explored traversable state, and an unexplored state; wherein the exploration status map includes at least the position coordinates of the ground robot; In the exploration state map, determining a maximum square that includes the ground robot and only includes an explored area; wherein the explored area is an area having the explored inaccessible state or the explored accessible state; Performing safety assessment on each unknown area respectively; wherein the unknown area is an area in the unexplored state; Determining an optimal exploration route for the ground robot based on a preset exploration goal and the safety of each unknown area; A safe exploration path for the ground robot is planned according to the optimal exploration route, and the ground robot is controlled to perform terrain exploration on an unexplored area based on the safe exploration path.

2. The method according to claim 1, characterized in that: The exploration state map is a two-dimensional grid map; Different grids in the exploration status map respectively correspond to the terrain accessibility status; The exploration state map is obtained based on local plane fitting of a three-dimensional point cloud map, and the three-dimensional point cloud map is collected and generated based on the ground robot.

3. The method according to claim 2, characterized in that The marking of terrain accessibility status on the exploration status map includes: For each grid of the exploration state map, a passability score is performed based on the slope analysis and the plane roughness analysis, and the grids that can complete the passability score are marked as an explored inaccessible state or an explored passable state according to a preset value range; In response to failure to complete the traversability scoring, marking the grid for which the traversability scoring cannot be completed as an unexplored state.

4. The method according to claim 1, characterized in that: The security level includes high security, medium security, and low security; The preset exploration goal includes exploring only unknown areas with high safety and medium safety.

5. The method according to claim 4, characterized in that The optimal exploration route is determined using the following formula: Among them, r * represents the optimal exploration route, G(·) represents the robot along the route r i The exploration gain obtained after exploring the unknown area on the route, g k Represents the unknown area r k The area value of L(·) represents the area of ​​the robot along the route r i The length of the path traveled after exploring the unknown area on the route, {r1,r2,...,r N } represents a set of N possible exploration routes that can be formed in the unknown area to be explored, and α and β are weight parameters.

6. A terrain exploration device for a ground robot, characterized in that: The device comprises: A marking module, used for marking the passability status of each area of ​​the exploration status map, wherein the passability status includes an explored inaccessible state, an explored passable state, and an unexplored state; wherein the exploration status map at least includes the position coordinates of the ground robot; A determination module, configured to determine, in the exploration state map, a largest square that includes the ground robot and only includes an explored area; wherein the explored area is an area having the explored inaccessible state or the explored accessible state; An evaluation module, used to evaluate the safety of each unknown area respectively; wherein the unknown area is an area in the unexplored state; The determination module is further used to determine the optimal exploration route of the ground robot based on the preset exploration target and the safety of each unknown area; The machine control module is used to plan a safe exploration path for the ground robot according to the optimal exploration route, and control the ground robot to perform terrain exploration on an unexplored area based on the safe exploration path.

7. The device according to claim 6, characterized in that The exploration state map is a two-dimensional grid map; Different grids in the exploration status map respectively correspond to the terrain accessibility status; The exploration state map is obtained based on local plane fitting of a three-dimensional point cloud map, and the three-dimensional point cloud map is collected and generated based on the ground robot.

8. The device according to claim 7, characterized in that The marking module marks the terrain accessibility status of the exploration status map in the following manner: For each grid of the exploration state map, a passability score is performed based on the slope analysis and the plane roughness analysis, and the grids that can complete the passability score are marked as an explored inaccessible state or an explored passable state according to a preset value range; In response to failure to complete the traversability scoring, marking the grid for which the traversability scoring cannot be completed as an unexplored state.

9. An electronic device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the method according to any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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