Indoor navigation map generation method and device, computer equipment and storage medium

Abstract

The invention discloses an indoor navigation map generation method and device, computer equipment and a storage medium, and the method comprises the steps: responding to an operation instruction for at least one vector tile, configuring the at least one vector tile, and generating a tile map of an indoor scene, the tile map comprising semantic information and traffic rules for the indoor scene; obtaining a vector map of the indoor scene; and responding to a received mapping instruction, performing coordinate mapping on the tile map and the vector map, and generating a navigation map of the indoor scene. A navigation map generated after coordinate mapping is completed can reflect the actual situation in the current environment, and the robot can achieve autonomous navigation in the actual environment. The navigation map further comprises semantic information and traffic rules of the indoor scene, and the semantic information and the traffic rules can also control the robot to move and work, so that the robot completes work in the indoor environment according to service requirements, and the purposes of automatic navigation and work completion of the robot are achieved.

Description

Technical Field

[0001] The present invention relates to the field of navigation map technology, and more specifically, to a method, device, computer equipment and storage medium for generating an indoor navigation map. Background Art

[0002] In order to achieve the purpose of autonomous mobile robots automatically navigating and completing tasks, it is necessary to provide the autonomous mobile robots with navigation maps of the environment they are in. However, in the relevant technical field, robots need to implement indoor services such as warehouse management in indoor environments such as warehouses, and the corresponding map editing software is difficult to draw maps corresponding to indoor environments, making it difficult for autonomous mobile robots to automatically navigate indoors and complete tasks according to business needs. Summary of the invention

[0003] The embodiments of the present invention provide a method, an apparatus, a computer device and a storage medium for generating an indoor navigation map.

[0004] The indoor navigation map generation method provided in the embodiment of the present invention includes: responding to an operation instruction for at least one vector tile, configuring the at least one vector tile, generating a tile map of an indoor scene, wherein the tile map includes semantic information and traffic rules for the indoor scene; acquiring the vector map of the indoor scene; and responding to a received mapping instruction, performing coordinate mapping between the tile map and the vector map, and generating a navigation map of the indoor scene.

[0005] In some embodiments, the operation instruction includes: a semantic configuration instruction. The configuring the at least one vector tile in response to the operation instruction for at least one vector tile includes: configuring semantic information of any of the vector tiles in response to the semantic configuration instruction for any of the vector tiles.

[0006] In some embodiments, configuring the semantic information of any of the vector tiles includes: setting the key value of a predefined key of the vector tile; modifying, deleting or adding the key value of a custom key of the vector tile; and generating the semantic information of the vector tile based on a key-value pair of the predefined key and the custom key value of the vector tile.

[0007] In some embodiments, the vector tile includes: a road-type tile for representing a road of the indoor scene. The operation instruction includes: a drag instruction for the road-type tile. The responding to the operation instruction for at least one vector tile and configuring the at least one vector tile includes: responding to the drag instruction for the road-type tile, continuously adding the road-type tile, parsing adjacent semantic information, and automatically generating the traffic rules according to the adjacent semantic information and the drag direction of the drag instruction, wherein the adjacent semantic information includes semantic information of vector tiles adjacent to the road-type tile.

[0008] In some embodiments, the operation instruction includes: a traffic rule editing instruction. After the traffic rule is automatically generated, the indoor navigation map generation method further includes: in response to the traffic rule editing instruction, editing the guide line on the road-shaped tile, the guide line is used to indicate the movement direction of the robot.

[0009] In some embodiments, the vector tile includes: a road-type tile for representing a road of the indoor scene, and a shelf-type tile for representing a shelf of the indoor scene. The operation instruction includes: an interest point configuration instruction. The responding to the operation instruction for at least one vector tile and configuring the at least one vector tile includes: responding to the interest point configuration instruction, adding an interest point on the road-type tile, and configuring an association relationship between the interest point and the shelf-type tile.

[0010] In some embodiments, after adding the point of interest to the road-type tile, the indoor navigation map generation method also includes: configuring a queue entrance for the point of interest so that when the robot travels to the point of interest, it first moves to the queue entrance corresponding to the point of interest, and then moves to the point of interest along the queue entrance.

[0011] In some embodiments, the mapping instruction includes: a map drag instruction. In response to the received mapping instruction, the coordinate mapping of the tile map and the vector map includes: using the coordinates of the vector map as reference coordinates; in response to the map drag instruction, moving the tile map to a corresponding position of the vector map, and mapping the coordinates of any first point of the vector map to a second point of the tile map. The second point is the corresponding position of the first point.

[0012] An embodiment of the present invention provides an indoor navigation map generation device, which includes a tile map module, an acquisition module, and a mapping module. The tile map module is used to respond to an operation instruction for at least one vector tile, configure the at least one vector tile, and generate a tile map of an indoor scene, wherein the tile map includes semantic information and traffic rules for the indoor scene. The acquisition module is used to acquire a vector map of the indoor scene. The mapping module is used to respond to a received mapping instruction, coordinate map the tile map with the vector map, and generate a navigation map of the indoor scene.

[0013] An embodiment of the present invention provides a computer device, which includes a memory and a processor. The memory is used to store an indoor navigation map generation program. When the processor executes the program, it implements the indoor navigation map generation method of any one of the above embodiments.

[0014] An embodiment of the present invention provides a computer-readable storage medium, which, when executed by a processor, implements the indoor navigation map generating method of any one of the above embodiments.

[0015] The embodiment of the present invention proposes a method, device, computer equipment and storage medium for generating an indoor navigation map. In the method for generating an indoor navigation map, an operator can issue an operation instruction of a vector tile to configure the vector tile according to the actual indoor environment and generate a corresponding vector map. The generated tile map includes semantic information and traffic rules for indoor scenes, and the semantic information and traffic rules of the indoor scene are set according to the actual working environment and business requirements of the robot. After the vector map is generated, the operator can issue a corresponding mapping instruction to coordinately map the tile map with the vector map of the indoor scene to obtain a navigation map of the indoor scene. The navigation map generated after the coordinate mapping is completed can reflect the actual situation in the current environment, allowing the robot to accurately realize autonomous navigation in the actual environment. The navigation map also includes semantic information and traffic rules for indoor scenes, and the semantic information and traffic rules can also control the movement and work of the robot, allowing the robot to complete the operation according to business requirements in this indoor environment, thereby achieving the purpose of automatic navigation and completion of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0017] Figure 1 is a flowchart of a navigation map generation method according to an embodiment of the present invention;

[0018] Figure 2is a schematic diagram of an operation interface of an application according to an embodiment of the present invention;

[0019] Figure 3 is a flowchart of a navigation map generation method according to an embodiment of the present invention;

[0020] Figure 4 is a schematic diagram of an operation interface of an application according to an embodiment of the present invention;

[0021] Figure 5 is a schematic diagram of an operation interface of an application according to an embodiment of the present invention;

[0022] Figure 6 is a schematic diagram of an operation interface of an application according to an embodiment of the present invention;

[0023] Figure 7 is a schematic diagram of an operation interface of an application according to an embodiment of the present invention;

[0024] Figure 8 is a flowchart of a navigation map generation method according to an embodiment of the present invention;

[0025] Fig. 9 is a schematic diagram of an operation interface of an application according to an embodiment of the present invention;

[0026] Fig.10 is a schematic diagram of an operation interface of an application according to an embodiment of the present invention;

[0027] Fig.11 is a flowchart of a navigation map generation method according to an embodiment of the present invention;

[0028] Fig.12 is a schematic diagram of an operation interface of an application according to an embodiment of the present invention;

[0029] Fig.13 is a schematic diagram of an operation interface of an application according to an embodiment of the present invention;

[0030] Fig.14 is a schematic diagram of an operation interface of an application according to an embodiment of the present invention;

[0031] Fig.15 It is a schematic diagram of an indoor navigation map generating device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The embodiments of the present invention are described in detail below, and the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0033] In order to achieve the purpose of autonomous mobile robots automatically navigating and completing tasks, it is necessary to provide the autonomous mobile robots with navigation maps of the environment they are in. However, in the relevant technical field, robots need to implement indoor services such as warehouse management in indoor environments such as warehouses, and the corresponding map editing software is difficult to draw maps corresponding to the indoor environment in the field of warehousing and logistics, making it difficult for autonomous mobile robots to automatically navigate and complete tasks according to business needs.

[0034] Maps can be in many forms. The most typical ones are raster maps and vector maps. Raster maps are essentially pictures, and the most typical case is the pictures of the ground taken by satellites or other remote sensing methods, while vector maps are maps saved with geometric parameters, and the most typical case is the roads and rivers represented by segments and houses and farmlands represented by polygons marked on vector maps.

[0035] Some vector map editing software in the relevant technical field has difficulty in drawing maps corresponding to the indoor environment in the field of warehousing and logistics. Taking GIS (Geographic Information System) editing software as an example, it is difficult for GIS software to draw maps corresponding to the indoor environment in the field of warehousing and logistics. GIS software usually needs to specify a coordinate system, while indoor scenes usually require a self-built coordinate system, and the self-built coordinate system is independent of the common earth space coordinate system. The maps drawn by GIS software are usually completely unstructured scenes, such as mountains and rivers, while warehouses are structured scenes. The indoor environment of the warehouse has a large amount of semantic information marked according to specific business scenarios. This information is generally not included in the GIS software. GIS software usually cannot draw traffic rules, or there is an independent module to handle traffic rules, while the warehouse application scenario needs to handle the traffic rules of the robot, and it is necessary to use the business semantic information of the warehouse to automatically generate traffic rules to control the movement of the robot.

[0036] See also Figure 1 The embodiment of the present invention provides a method for generating an indoor navigation map, and the method for generating an indoor navigation map includes:

[0037] Step 01: responding to an operation instruction for at least one vector tile, configuring at least one vector tile, and generating a tile map of an indoor scene, wherein the tile map includes semantic information and traffic rules for the indoor scene;

[0038] Step 02: Get the vector map of the indoor scene;

[0039] Step 03: In response to the received mapping instruction, coordinate mapping is performed between the tile map and the vector map to generate a navigation map of the indoor scene.

[0040] In the indoor navigation map generation method of the embodiment of the present invention, the operator can issue the operation instructions of the vector tiles to configure the vector tiles according to the actual indoor environment and generate the corresponding vector map. The generated tile map includes semantic information and traffic rules for indoor scenes. The semantic information and traffic rules of the indoor scenes are set according to the actual working environment and business needs of the robot. After the vector map is generated, the operator can issue the corresponding mapping instructions to coordinate map the tile map with the vector map of the indoor scene to obtain the navigation map of the indoor scene. The navigation map generated after the coordinate mapping is completed can reflect the actual situation in the current environment, allowing the robot to accurately realize autonomous navigation in the actual environment. The navigation map also includes semantic information and traffic rules for indoor scenes. The semantic information and traffic rules can also control the movement and work of the robot, allowing the robot to complete the operation according to business needs in this indoor environment, thus achieving the purpose of automatic navigation and completion of the robot.

[0041] An embodiment of the present invention provides a computer device, which includes a memory and a processor. The memory is used to store an indoor navigation map generation program. When the processor executes the program, it implements the indoor navigation map generation method of any one of the above embodiments.

[0042] Specifically, the indoor navigation map generation method is applied to a computer device, an operator sends an operation instruction to the computer device, and the computer device generates a navigation map according to the received operation instruction.

[0043] Computer equipment has a visual operation interface. Computer equipment can be fixed or mobile equipment, such as desktop computers, etc., and mobile equipment such as tablet computers. The processor can be composed of chips or circuits with data processing functions such as CPLD (complex programmable logic device), FPGA (field programmable gate array), MCU (microcontroller unit), PLC (programmable logic controller) and CPU (central processing unit).

[0044] Reference Figure 2 , the operator can perform related drawing operations by operating the computer device. The operation interface on the computer device displays the area that can be used to draw the map and the corresponding toolbar. The operator can draw the map through the toolbar. The toolbar has corresponding annotations and instructions for different operation instructions. After the operator completes the editing of the navigation map, the operator can save the navigation map, serialize the saved navigation map data, and store the processed data in the corresponding software development kit. When the operator needs to read the data again, he can open the corresponding folder. The robot can also read the navigation map through the corresponding software development kit to realize the functions of autonomous navigation and autonomous action according to the business in the corresponding warehouse environment.

[0045] In step 01, in the vector map editing software, vector tiles can be used to draw the smallest unit of structured tile maps. Features in vector maps, such as a shelf, a road, a packing station, a conveyor belt, a parking space, etc., can be drawn by tile vectors. Each vector tile can be a rectangle with similar length and width, or other polygons.

[0046] The operator can select different types of vector tiles through the toolbar and drag the selected vector tiles to the corresponding position. The operator selects the type of tile on the toolbar on the left side of the operation interface, and then clicks the configurable area in the software. Press and hold the mouse to drag to configure multiple vector tiles continuously, select the corresponding vector tile and drag it to the corresponding position, so that each vector tile can be configured to form a tile map.

[0047] The tile map formed includes corresponding semantic information and traffic rules, which can be automatically generated after configuring the vector tiles or manually annotated. Traffic rules can control the robot's movement, and semantic information can control the robot to execute the corresponding working mode. Traffic rules can be customized according to actual needs to change the robot's movement trajectory. Semantic information can be customized according to actual needs to change the working mode executed by the robot.

[0048] Furthermore, the operator can set semantic information according to the type of business of the robot in the indoor warehouse. The operator can determine what business the robot needs to perform according to the actual situation of the warehouse, and define the semantic information and traffic rules for the indoor scene by himself. For example, the business of the robot in the indoor warehouse may include inventory, picking, packing, review and delivery. Therefore, the semantic information is marked with semantic information that can control the robot to perform inventory, picking, packing, review and delivery. The operator can divide the tile map into four areas of inventory, picking, packing, delivery and delivery by configuring vector tiles within the scene range and editing the content stored in the vector tiles. Each area can include small areas such as shelves, roads, packing tables and assembly lines. The business that the robot needs to perform in each small area is different, and the corresponding semantic information and traffic rules are also different in each small area. The semantic information and traffic rules control the robot to perform the corresponding business in the small area. The operator can also customize a task waiting area in a certain area by editing the marked semantic information, and automatically go to the task waiting area when the robot does not perform the work task.

[0049] In step 02, the vector map of the indoor scene can reflect the actual situation of the indoor scene environment, such as the boundary distribution, direction, connection relationship, attributes and obstacle position and posture of the indoor scene, so that the mobile robot can realize automatic navigation in the current environment.

[0050] In step 03, after mapping the tile map to the vector, an indoor navigation map is generated. Compared with the tile map, the indoor navigation map can reflect the actual working environment of the robot and will not cause the robot's positioning to deviate. It should be noted that the navigation map and the vector map are set according to different working environments. In different working environments of the robot, different vector maps should be used to generate different indoor navigation maps.

[0051] In this way, the operator can edit the corresponding navigation map according to the actual working environment and business needs of the robot. The navigation map can reflect the environmental information in the indoor environment. The traffic rules and semantic information in the navigation map can also control the robot to move and work according to business needs. In this way, the edited navigation map can realize the purpose of the autonomous mobile robot to automatically navigate and complete the task according to business needs.

[0052] In some embodiments, the operation instruction includes a semantic configuration instruction. In response to the operation instruction for at least one vector tile, configuring at least one vector tile includes:

[0053] In response to a semantic configuration instruction for any vector tile, the semantic information of any vector tile is configured.

[0054] The operator can edit the content stored in the vector tile through the toolbar. The toolbar can also include the type of each vector tile, the semantic information of the mark and the corresponding annotations. By reading these annotations, the operator can edit the semantic information of the vector tile according to the actual usage requirements. The operator can also drag the selected vector tile to the corresponding position first, and then edit the semantic information of the vector tile.

[0055] In this way, the operator can edit the semantic information of any vector tile.

[0056] Furthermore, the operator can set semantic information according to the type of business the robot performs in the indoor warehouse. The operator can determine the business that the robot needs to perform based on the actual situation of the warehouse, and define the semantic information for each vector tile. The operator edits the semantic information of each vector tile to draw the tile map.

[0057] Reference Figure 3In some embodiments, the vector tile includes a road-type tile for representing a road in an indoor scene. The operation instruction includes a drag instruction for the road-type tile. In response to the operation instruction for at least one vector tile, configuring at least one vector tile includes:

[0058] Step 011: In response to a drag command for a road-type tile, continuously add road-type tiles, parse adjacent semantic information, and automatically generate traffic rules based on the adjacent semantic information and the drag direction of the drag command, wherein the adjacent semantic information includes semantic information of vector tiles adjacent to the road-type tile.

[0059] Specifically, refer to Figure 4 ,Road tiles can be used to represent roads in indoor scenes. A section of a road in an indoor scene can be drawn using a road tile. When configuring a road tile to draw a road in an indoor scene, a corresponding automatic traffic rule will be generated, and the corresponding automatic traffic rule controls the movement of the robot.

[0060] The generated traffic rules are related to the dragging direction of the drag command. The operator selects the road-type vector tile on the toolbar on the left side of the operation interface, and drags the mouse in the direction A to continuously draw multiple road-type vector tiles, thus drawing a road. This road can be represented as a road for the robot to travel in the tile map, and this road will form an automatic traffic rule to control the robot to move in the direction A along this road.

[0061] The generated traffic rules are also related to the adjacent semantic information. For example, if the adjacent semantic information indicates a parking position, then the automatic traffic rule corresponding to the parking position is to control the robot to move to the parking position and stop when it reaches the parking position. The adjacent semantic information can also indicate the position of changing direction, then the automatic traffic rule corresponding to the parking position is that the robot changes its direction of movement when it reaches the position.

[0062] In this way, the operator can configure the vector tiles according to actual needs, generate corresponding automatic traffic rules to edit the navigation map, so that the robot can move according to the corresponding automatic traffic rules when reading the navigation map.

[0063] Reference Figure 3 In some embodiments, the operation instruction includes: a traffic rule editing instruction. After automatically generating the traffic rules, the indoor navigation map generation method further includes:

[0064] Step 012: In response to the traffic rule editing instruction, the guide lines on the road-type tile are edited. The guide lines are used to indicate the movement direction of the robot.

[0065] Specifically, refer to Figure 5, the operator can also issue traffic rule editing instructions to change the content of the generated automatic traffic rules to meet actual work needs. After configuring the road-type vector tile, the vector tile generates the corresponding traffic rule guide line, which stores the information of the automatic traffic rules and can be used to control the movement of the robot. The operator can select the traffic rule guide line to be edited according to actual needs to edit the information of the automatic traffic rules on the traffic rule guide line, or send a delete control instruction to the traffic rule guide line to delete the corresponding automatic traffic rule information.

[0066] In this way, the operator can edit the information of automatic traffic rules according to needs and change the movement of the robot when the robot reads the navigation map.

[0067] Reference Figure 6 as well as Figure 7 In some embodiments, configuring the semantic information of any vector tile includes: setting the key value of the predefined key of the vector tile; modifying, deleting or adding the key value of the custom key of the vector tile; generating the semantic information of the vector tile based on the key-value pair of the predefined key and the custom key value of the vector tile.

[0068] Specifically, refer to Figure 6 , the operator can edit the key value of any predefined key and the key value of a custom key of any vector tile. After the operator selects the vector tile to be edited, the operation interface will pop up the corresponding property box (located at Figure 6 ).

[0069] Further, please refer to Figure 7 ,The data in the semantic information of the vector tile can be divided into custom data and predefined data, and the key value can also be divided into predefined keys and custom keys. The operator can change the predefined data by editing the key value of the predefined key, and can change the custom data by editing the custom key value.

[0070] Each vector tile has a predefined key, and the operator can set the key value of the predefined key. Figure 7 The tile name, appearance, navigable, type, and expand Field are predefined keys.

[0071] Operators can delete or add custom keys of vector tiles according to business needs, or change the key values ​​of custom keys. Operators can construct the semantic information of a vector tile by setting all key values ​​of predefined keys and custom keys.

[0072] In this way, the operator can configure the semantic information of each vector tile by editing the key value of the custom key and the key value of the predefined key of the vector tile.

[0073] Reference Figure 8 In some embodiments, the vector tiles include road-type tiles for representing roads in indoor scenes and shelf-type tiles for representing shelves in indoor scenes. The operation instruction includes a point of interest configuration instruction. In response to the operation instruction for at least one vector tile, configuring at least one vector tile includes:

[0074] Step 013: respond to the point of interest configuration instruction, add the point of interest on the road-type tile, and configure the association relationship between the point of interest and the shelf-type tile.

[0075] Specifically, the operator can select the POI editing tool on the toolbar to edit the POI information on each road tile. Each POI contains four aspects of information: name, category, coordinates, and classification. Comprehensive POI information can indicate detailed information about the branches of the road conditions and surrounding buildings, making it easier for the robot to implement corresponding path planning, thereby achieving self-navigation.

[0076] Reference Fig. 9 Each point of interest information corresponds to a shelf-type tile, and the point of interest information on a road-type tile can correspond to multiple shelf-type tiles. The point of interest information is set on the traffic rule guide line displayed on the operation interface, and the arrow points to the shelf-type tile corresponding to the point of interest information.

[0077] The operator can also set the association between the point of interest information and the shelf-type tiles in the warehouse through the toolbar, so as to realize the association between the walking roads and shelves in the warehouse in the map.

[0078] The tile map is divided into four areas: inventory, picking, packaging, shipping, and delivery. Each area can include two parts: shelves and roads. Road-type tiles can form the road part, and shelf-type tiles can form the shelf part. When the robot walks along the road, it can obtain the point of interest information on the road-type tile, and then obtain the association relationship with the shelf-type tile based on this point of interest information. The robot performs the corresponding work based on the point of interest on the road-type tile.

[0079] For example, in the picking area, the robot needs to perform the picking work. The robot walks along the road in the picking area, and when passing through road-type tile A, it obtains the points of interest on road-type tile A. Road-type tile A is associated with shelves B and C, and the corresponding association relationship is that on road-type tile A, the robot needs to perform the business of picking on shelves B and C. When the robot moves to road-type tile A, the next step of the robot is to pick up on shelves B and C. The actual work of the picking business can also be obtained from the association relationship between road-type tile A and shelves B and C, such as the type and quantity of picking.

[0080] Reference Fig.10 , Fig.10 Information about four points of interest is displayed. When the robot performs work along the specified path, it can read the information about the four points of interest in sequence and perform corresponding work according to the points of interest on the road-shaped tile.

[0081] The robot works according to the arrows on the traffic rules guide line, passing through the four points A1, A2, A3, and A4 in sequence. The point of interest information on point A1 corresponds to the robot performing business on shelf B1, the point of interest information on point A2 corresponds to the robot performing business on shelf B2, the point of interest information on point A3 corresponds to the robot performing business on shelf B3, and the point of interest information on point A4 corresponds to the robot performing business on shelf B4. The robot performs business on the four shelves B1, B2, B3, and B4 in sequence.

[0082] Reference Figure 8 After adding points of interest to the road-type tiles, the indoor navigation map generation method further includes:

[0083] Step 014: Configure a queue entrance for the point of interest so that when the robot goes to the point of interest, it first moves to the queue entrance corresponding to the point of interest, and then moves to the point of interest along the queue entrance.

[0084] When multiple robots go to the same point of interest at the same time, the robots surround the same point of interest, which is not conducive to the movement and execution of the robots.

[0085] To avoid the above situation, the operator can also edit the task queue of the point of interest information on the toolbar. After reading the data of the point of interest, the robot needs to go to the queue entrance set for the point of interest first, and then move along the queue entrance to the corresponding point of interest information.

[0086] In the task queue, the robot at the queue entrance has the lowest priority in moving to the corresponding point of interest. If there are no other robots in the task queue, the robot at the queue entrance can move to the corresponding point of interest. If there are other robots in the task queue, the robot at the queue entrance needs to wait until other robots move to the corresponding point of interest before the robot at the queue entrance moves to the corresponding point of interest.

[0087] For example, for the point of interest A1, a queue L is set. The queue L is a line segment and can include n nodes L1-Ln. L1 is closest to the point of interest A1, Ln is the entrance of the queue L, and Ln is farthest from the point of interest A. When robot X1 needs to go to the point of interest A1, robot A1 first arrives at the entrance of the queue L, that is, node Ln. If there are no other robots in the queue L, robot X1 directly reaches the point of interest A1 through the queue L. If there is robot X2 on the L1 node and robot X3 on the L2 node in the queue L, robot X3 goes to the point of interest A1 after robot X2 goes to the point of interest A1, and robot X1 goes to the point of interest A1 after robot X3 goes to the point of interest A1.

[0088] In this way, multiple robots can go to the same point of interest in the order of the queue, avoiding the phenomenon that the robots are surrounded on the same point of interest.

[0089] Reference Fig.11 In some embodiments, the mapping instruction includes a map drag instruction. In response to the received mapping instruction, coordinate mapping of the tile map and the vector map includes:

[0090] Step 031: Use the coordinates of the vector map as reference coordinates;

[0091] Step 032: In response to a map drag command, the tile map is moved to a corresponding position on the vector map, and the coordinates of any first point on the vector map are mapped to a second point on the tile map, wherein the second point is a corresponding position of the first point.

[0092] In step 031, the reference coordinate system may directly adopt the world coordinate system of the vector map, or may adopt a coordinate system related to the vector map. Fig.12 , the vector map of the indoor scene can be obtained by shooting, and the operator then imports the vector map of the indoor scene into the editing software, and the operation interface displays the imported vector map of the indoor scene.

[0093] In step 032, after displaying the vector map of the imported indoor scene, the editing software enters the coordinate mode, and can use the fast coordinate interpolation algorithm to map the coordinate system of the tile map to the reference coordinate system. The fast coordinate interpolation algorithm can estimate the values ​​of other points based on the values ​​of known points, thereby mapping the coordinate system of the tile map to the reference coordinate system. Fig.13 The vector tile is rectangular in shape. Each vector tile has 4 vertices and 1 center point. The 4 vertices and 1 center point of each vector tile can be mapped to the corresponding points on the reference coordinate system. The operator can drag the tile map to the corresponding position to map all vector tiles to the reference coordinate system. This completes the mapping of the tile map coordinate system to the vector map.

[0094] The POI information corresponding to each vector tile is mapped to the center point of the vector tile. The operator can directly edit the POI information corresponding to the vector tile at the center point of the vector tile, or edit the coordinates of the POI information on the navigation map at the center point of the vector tile.

[0095] You can refer to Fig.14 The center point of the vector tile is located at the center of the polygon. The operator can click the center point of the vector tile to edit the coordinates of the point of interest information on the navigation map. Fig.14 Below the seat is an operation box for editing coordinates, through which you can edit the location of the point of interest information on the navigation map.

[0096] In some implementations, after generating the navigation map, the navigation map generating method further includes: processing the data of the navigation map into a serialized format, and storing the processed data in a corresponding software development kit.

[0097] Specifically, the serialization format processing is actually mainly to convert the data format, that is, from the memory format to the disk format. The processed data can be removed and save space. The data processed in the serialization format can be read by the robot. There are multiple types of software development kits. For different warehouse business needs and different actual working environments, the corresponding navigation maps are different, and the corresponding software development kits are also different. When the robot needs to read the navigation map, the corresponding software development kit is selected according to the actual situation to obtain the corresponding navigation map to meet the use requirements. The operator can also read the original data of the software development tool to obtain the previously edited navigation map, and can edit and modify the original navigation map. In order to facilitate the operator to further edit the data, JSON (JavaScript Object Notation) serialization format processing can be used. This is a lightweight data exchange format that is easy for people to read and write, and can exchange data between multiple languages. It is also easy for machines to parse and generate.

[0098] In this way, the data of the navigation map is processed in a serialized format and stored in the software development kit, which can save storage space and facilitate reading and use by robots and operators.

[0099] Reference Fig.15 The embodiment of the present invention provides an indoor navigation map generating device 1000, which includes a tile map module 100, an acquisition module 200, and a mapping module 300. The tile map module 100 is used to respond to an operation instruction for at least one vector tile, configure at least one vector tile, and generate a tile map of an indoor scene, wherein the tile map includes semantic information and traffic rules for the indoor scene. The acquisition module 200 is used to acquire a vector map of an indoor scene. The mapping module 300 is used to respond to a received mapping instruction, coordinate map the tile map with the vector map, and generate a navigation map of the indoor scene.

[0100] Specifically, the indoor navigation map generating device 1000 can be a terminal device with data processing function. The terminal device can be a mobile phone, a tablet computer, a smart Bluetooth device, a laptop computer, a game console, or a personal computer (PC). The electronic device can also be a server, which can be an independent server or a server network or server cluster composed of servers, including but not limited to a computer, a network host, a single network server, a plurality of network servers, or a cloud server composed of multiple servers.

[0101] The indoor navigation map generation device 1000 includes three modules, a tile map module 100, an acquisition module 200 and a mapping module 300. These three modules are used to execute the three steps of the indoor navigation map generation method. Among them, the tile map module 100 is used to implement step 01: respond to the operation instruction for the vector tile, configure the vector tile, and then generate a tile map of the indoor scene. The acquisition module 200 is used to implement step 02: obtain the vector map of the indoor scene. The mapping module 300 is used to implement step 03: respond to the received mapping instruction, map the tile map with the vector map, and generate a navigation map of the indoor scene.

[0102] The indoor navigation map generating device 1000 can obtain an indoor navigation map according to the specific indoor environment and the business needs of the robot, so that the robot can complete the task according to the business needs in this indoor environment, thereby achieving the purpose of automatic navigation and completion of the task by the robot.

[0103] Furthermore, the operation instruction includes a semantic configuration instruction. The tile map module 100 can configure the semantic information of any vector tile in response to the semantic configuration instruction for any vector tile.

[0104] Further, the vector tile includes a road-type tile for representing a road of an indoor scene. The operation instruction includes a drag instruction for the road-type tile. The tile map module 100 can respond to the drag instruction for the road-type tile, continuously add road-type tiles, parse adjacent semantic information, and automatically generate traffic rules according to the adjacent semantic information and the drag direction of the drag instruction, wherein the adjacent semantic information includes semantic information of vector tiles adjacent to the road-type tile.

[0105] Furthermore, the operation instruction includes a traffic rule editing instruction. After automatically generating the traffic rule, the tile map module 100 can edit the guide line on the road-type tile in response to the traffic rule editing instruction, and the guide line is used to indicate the moving direction of the robot.

[0106] Furthermore, the tile map module 100 can set the key value of the predefined key of the vector tile and modify, delete or add the key value of the custom key of the vector tile, and generate semantic information of the vector tile by modifying the key-value pair of the predefined key and the custom key value of the vector tile.

[0107] Further, the vector tile includes a road-type tile for representing a road in an indoor scene and a shelf-type tile for representing a shelf in an indoor scene. The operation instruction includes an interest point configuration instruction. The tile map module 100 can add an interest point to the road-type tile in response to the interest point configuration instruction, and configure the association relationship between the interest point and the shelf-type tile.

[0108] Furthermore, after adding a point of interest to the road-type tile, the tile map module 100 can configure a queue entrance for the point of interest in response to the point of interest configuration instruction, so that when the robot goes to the point of interest, it first moves to the queue entrance corresponding to the point of interest, and then moves to the point of interest along the queue entrance.

[0109] Furthermore, the mapping instruction includes a map dragging instruction. The mapping module 300 may perform coordinate mapping between the tile map and the vector map in response to the received mapping instruction.

[0110] Furthermore, the mapping module 300 can use the coordinates of the vector map as reference coordinates in response to the received mapping instructions. The mapping module 300 can also move the tile map to the corresponding position of the vector map in response to the map dragging instruction, and map the coordinates of any first point of the vector map to the second point of the tile map, wherein the second point is the corresponding position of the first point.

[0111] In summary, the indoor navigation map generating device 1000 can implement the navigation map generating method of any one of the above-mentioned implementations.

[0112] An embodiment of the present invention provides a computer-readable storage medium, and when the computer-readable storage medium is executed by a processor, the navigation map generating method of any one of the above embodiments is implemented.

[0113] Specifically, the storage medium may be any medium that can store computer programs, such as ROM, RAM, a magnetic disk or an optical disk.

[0114] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0115] In addition, the term "connection" should be understood in a broad sense, for example, it can include fixed connection, detachable connection, or integral connection; it can include direct connection, indirect connection through an intermediate medium, and internal communication between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0116] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0117] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0118] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for generating an indoor navigation map, characterized in that: The method comprises: In response to an operation instruction for at least one vector tile, configuring the at least one vector tile to generate a tile map of an indoor scene, wherein the tile map includes semantic information and traffic rules for the indoor scene; Obtaining a vector map of the indoor scene; In response to the received mapping instruction, coordinate mapping is performed between the tile map and the vector map to generate a navigation map of the indoor scene.

2. The method for generating an indoor navigation map according to claim 1, characterized in that: The operation instructions include: semantic configuration instructions; The step of configuring the at least one vector tile in response to an operation instruction for the at least one vector tile comprises: In response to the semantic configuration instruction for any of the vector tiles, the semantic information of any of the vector tiles is configured.

3. The method for generating an indoor navigation map according to claim 2, characterized in that: The semantic information of configuring any of the vector tiles includes: Setting the key value of the predefined key of the vector tile; Modify, delete or add the key value of the custom key of the vector tile; The semantic information of the vector tile is generated according to a key-value pair of the predefined key and the custom key value of the vector tile.

4. The method for generating an indoor navigation map according to claim 1, characterized in that: The vector tiles include: road-type tiles for representing roads of the indoor scene; The operation instructions include: a drag instruction for the road-type tile; The step of configuring the at least one vector tile in response to an operation instruction for the at least one vector tile comprises: In response to a drag instruction for the road-type tile, the road-type tile is continuously added, adjacent semantic information is parsed, and the traffic rules are automatically generated according to the adjacent semantic information and the drag direction of the drag instruction, wherein the adjacent semantic information includes semantic information of vector tiles adjacent to the road-type tile.

5. The method for generating an indoor navigation map according to claim 4, characterized in that: The operation instructions include: traffic rules editing instructions; After the traffic rules are automatically generated, the method further includes: In response to the traffic rule editing instruction, the guide line on the road-type tile is edited, and the guide line is used to indicate the moving direction of the robot.

6. The method for generating an indoor navigation map according to claim 1, characterized in that: The vector tiles include: road-type tiles for representing roads in the indoor scene, and shelf-type tiles for representing shelves in the indoor scene; The operation instructions include: point of interest configuration instructions; The step of configuring the at least one vector tile in response to an operation instruction for the at least one vector tile comprises: In response to the interest point configuration instruction, an interest point is added to the road-type tile, and an association relationship between the interest point and the shelf-type tile is configured.

7. The method for generating an indoor navigation map according to claim 6, characterized in that: After adding the interest point on the road-type tile, the method further includes: A queue entrance is configured for the point of interest, so that when the robot goes to the point of interest, it first moves to the queue entrance corresponding to the point of interest, and then moves to the point of interest along the queue entrance.

8. The method for generating an indoor navigation map according to any one of claims 1 to 7, characterized in that: The mapping instructions include: map dragging instructions; The step of performing coordinate mapping between the tile map and the vector map in response to the received mapping instruction includes: Using the coordinates of the vector map as reference coordinates; In response to the map dragging instruction, the tile map is moved to a corresponding position of the vector map, and the coordinates of any first point of the vector map are mapped to a second point of the tile map, wherein the second point is a corresponding position of the first point.

9. An indoor navigation map generating device, characterized in that: include: A tile map module, configured to respond to an operation instruction for at least one vector tile, configure the at least one vector tile, and generate a tile map of an indoor scene, wherein the tile map includes semantic information and traffic rules for the indoor scene; An acquisition module, used to acquire a vector map of the indoor scene; The mapping module is used to respond to the received mapping instruction, perform coordinate mapping between the tile map and the vector map, and generate a navigation map of the indoor scene.

10. A computer device, characterized in that: The computer device includes a memory and a processor, the memory is used to store an indoor navigation map generation program, and the processor implements the indoor navigation map generation method according to any one of claims 1-8 when executing the program.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium implements the indoor navigation map generating method according to any one of claims 1 to 8 when executed by a processor.

Images