Robot autonomous exploration method and device

Abstract

The invention discloses a robot autonomous exploration method and device. The method comprises the following steps: acquiring to-be-processed data, wherein the to-be-processed data comprises starting point data and ending point data; performing exploration point generation processing on the starting point data and the ending point data to obtain exploration point data, and performing exploration path generation processing on the exploration point data to obtain exploration path data; acquiring environment exploration data, wherein the environment exploration data is used for representing the environment data of the unknown area acquired by the robot according to the exploration path data; and performing map construction processing on the environment exploration data to obtain target exploration map data. An exploration point of a robot in an unknown field is generated according to a starting point and an ending point of the robot, an exploration path is determined according to the exploration point, and the robot collects environmental data according to the exploration path and performs map construction to obtain a target exploration map, so that map construction in the unknown area is realized. And autonomous exploration and autonomous mapping of the robot in an unknown area are realized.

Description

Technical Field

[0001] The present application relates to the field of robotics, and more specifically, to a method and device for autonomous exploration of robots. Background Art

[0002] With the continuous development of robot technology, robots are widely used in various fields. Robots can complete point-to-point movement by themselves through navigation systems, but their implementation is highly dependent on global maps. Robots achieve autonomous navigation based on global maps. In the prior art, the map data of robots is mainly obtained by robot deployment personnel manually controlling the robot to walk in the working environment to build a global map of the robot, which consumes human resources and is inefficient. When the working environment area changes, it is difficult for the robot to autonomously explore the unknown area, which makes the degree of robot autonomy low. If the deployment personnel re-control the robot to walk in the unknown area to achieve global map update, the efficiency is low.

[0003] Therefore, this application is proposed to address the problems in the prior art. Summary of the invention

[0004] The main purpose of this application is to provide a robot autonomous exploration method and device to solve the problem of robots exploring unknown areas in the prior art, thereby achieving the technical effect of improving the robot's degree of autonomy and exploration efficiency.

[0005] In order to achieve the above objectives, in the first aspect of the present application, a robot autonomous exploration method is proposed, comprising:

[0006] Acquire data to be processed, wherein the data to be processed includes starting point data and ending point data, the starting point data is data used to indicate the starting point of the robot, and the ending point data is data used to indicate the ending point of the robot;

[0007] Performing exploration point generation processing on the starting point data and the ending point data to obtain exploration point data, wherein the exploration point data is data used to represent an exploration point in an unknown area of ​​the robot;

[0008] Performing exploration path generation processing on the exploration point data to obtain exploration path data, wherein the exploration path data is data used to represent the path of the robot running in the unknown area;

[0009] Acquire environmental exploration data, wherein the environmental exploration data is used to represent environmental data of an unknown area collected by the robot according to the exploration path data;

[0010] The environment exploration data is subjected to a map construction process to obtain target exploration map data, wherein the target exploration map data is map data for representing an unknown area.

[0011] Further, the starting point data and the ending point data are processed to generate exploration points, and the obtained exploration point data includes:

[0012] Identifying the data to be processed to obtain initial map data, wherein the initial map data is map data for representing an initial area of ​​the robot;

[0013] Performing exploration point generation processing on the initial map data and the starting point data to obtain first exploration point data;

[0014] Performing exploration point generation processing on the first exploration point data and the termination point data to obtain second exploration point data;

[0015] The exploration point data is obtained according to the first exploration point data and the second exploration point data.

[0016] Further, performing exploration point generation processing on the initial map data and the starting point data to obtain first exploration point data includes:

[0017] Performing boundary area recognition processing on the initial map data to obtain boundary area data, wherein the boundary area data is data used to represent the boundary between the initial map and the unknown area;

[0018] Performing target point screening processing on the boundary area data to obtain process target point data, wherein the process target point data is data used to represent points on the boundary area;

[0019] The starting point data and the process target point data are processed by path distance-based exploration point generation to obtain the first exploration point data.

[0020] Further, the exploration point data is processed to generate an exploration path, and the obtained exploration path data includes:

[0021] Identify the exploration point data to obtain first exploration point data and second exploration point data;

[0022] Performing a first exploration path generation process on the starting point data and the first exploration point data to obtain first exploration path data;

[0023] Performing a second exploration path generation process on the second exploration point data and the termination point data to obtain second exploration path data;

[0024] performing a third exploration path generation process on the first exploration point data and the second exploration point data to obtain third exploration path data;

[0025] The exploration path data is obtained according to the first exploration path data, the second exploration path data and the third exploration path data.

[0026] Furthermore, the environment exploration data is subjected to map construction processing to obtain target exploration map data including:

[0027] Identify and process the environment exploration data to obtain first environment exploration data and second environment exploration data, wherein the first environment exploration data is used to represent the environment data of a first unknown area collected by the robot during operation, and the second environment exploration data is used to represent the environment data of a second unknown area collected by the robot during operation;

[0028] performing keyframe-based map construction processing on the first environment exploration data and the second environment exploration data respectively to obtain first exploration map data and the second exploration map data;

[0029] performing a keyframe-based map matching process on the first exploration map data, the second exploration map data and the initial map data to obtain process exploration map data;

[0030] The process exploration map data is globally optimized to obtain the target exploration map data.

[0031] Furthermore, the first environment exploration data is subjected to a keyframe-based map construction process to obtain the first exploration map data, which includes:

[0032] Performing key frame extraction processing on the first environment exploration data to obtain first environment key frame data, wherein the first environment key frame data is key frame data used to represent construction of a first unknown area map;

[0033] Performing a map construction process based on a mapping algorithm on the first environment key frame data to obtain first environment map data, wherein the first environment map data is map data for representing the environment of the first unknown area;

[0034] The first environment map data and the initial map data are subjected to a map update process based on key frame matching to obtain the first exploration map data, wherein the first exploration map data is robot map data for representing a first unknown area.

[0035] According to the second aspect of the present application, a robot autonomous exploration device is proposed, comprising:

[0036] A data acquisition module, used to acquire data to be processed, wherein the data to be processed includes starting point data and ending point data, the starting point data is data used to indicate the starting point of the robot, and the ending point data is data used to indicate the ending point of the robot;

[0037] An exploration point module, used to perform exploration point generation processing on the starting point data and the ending point data to obtain exploration point data, wherein the exploration point data is data used to represent an exploration point in an unknown area of ​​the robot;

[0038] An exploration path module, used for performing exploration path generation processing on the exploration point data to obtain exploration path data, wherein the exploration path data is data used to represent the path of the robot in the unknown area;

[0039] An exploration data acquisition module, used to acquire environmental exploration data, wherein the environmental exploration data is used to represent the environmental data of the unknown area collected by the robot according to the exploration path data;

[0040] The map construction module performs map construction processing on the environment exploration data to obtain target exploration map data, wherein the target exploration map data is map data used to represent an unknown area.

[0041] Further, explore the point modules, including:

[0042] an identification module, used to identify the data to be processed to obtain initial map data, wherein the initial map data is map data used to represent an initial area of ​​the robot;

[0043] A first exploration point module, configured to perform exploration point generation processing on the initial map data and the starting point data to obtain first exploration point data;

[0044] A second exploration point module, configured to perform exploration point generation processing on the first exploration point data and the termination point data to obtain second exploration point data;

[0045] An exploration point generation module is used to obtain the exploration point data according to the first exploration point data and the second exploration point data.

[0046] According to a third aspect of the present application, a computer-readable storage medium is proposed, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the above-mentioned robot autonomous exploration method.

[0047] According to the fourth aspect of the present application, an electronic device is proposed, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor executes the above-mentioned robot autonomous exploration method.

[0048] The technical solution provided by the embodiments of the present application may have the following beneficial effects:

[0049] In the present application, data to be processed is obtained, wherein the data to be processed includes starting point data and ending point data, wherein the starting point data is data used to represent the starting point of the robot, and the ending point data is data used to represent the ending point of the robot; the starting point data and the ending point data are processed for exploration point generation to obtain exploration point data, wherein the exploration point data is data used to represent exploration points in an unknown area of ​​the robot; the exploration point data are processed for exploration path generation to obtain exploration path data, wherein the exploration path data is data used to represent the path of the robot in an unknown area; environmental exploration data is obtained, wherein the environmental exploration data is environmental data used to represent an unknown area collected by the robot according to the exploration path data; the environmental exploration data is processed for map construction to obtain target exploration map data, wherein the target exploration map data is map data used to represent an unknown area. By generating exploration points of the robot in an unknown area based on the starting and ending points of the robot, and determining the exploration path based on the exploration points, the robot collects environmental data according to the exploration path, and constructs a map of the collected environmental exploration data to obtain a target exploration map, thereby realizing map construction in the unknown area. This enables the robot to autonomously explore and build maps in unknown areas, thereby improving the robot's degree of autonomy. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The drawings constituting a part of this application are used to provide a further understanding of this application, so that other features, purposes and advantages of this application become more obvious. The schematic embodiment drawings and their descriptions of this application are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0051] Figure 1 A flowchart of a robot autonomous exploration method provided for this application;

[0052] Figure 2 A flowchart of a robot autonomous exploration method provided for this application;

[0053] Figure 3 A flowchart of a robot autonomous exploration method provided for this application;

[0054] Figure 4 A schematic diagram of a robot autonomous exploration device provided in this application;

[0055] Figure 5 A schematic diagram of another robotic autonomous exploration device provided for this application. DETAILED DESCRIPTION

[0056] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0057] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0058] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0059] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0060] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0061] In the prior art, when a robot constructs a global map, it is mainly through technicians manually controlling the robot to walk in the working environment to construct the robot's global map. For a working environment with a large range and complex terrain, the technician leads the robot to walk in the working environment, which consumes a lot of human resources and the robot's autonomy is low. In addition, when the position of the working environment area is constantly changing, the global map needs to be updated and constructed for each change. If the deployment personnel re-control the robot to walk in an unknown area to achieve a global map update, the efficiency is low.

[0062] In response to the above-mentioned problems existing in robot map construction in the prior art, the present application proposes a robot automatic exploration method, in which the robot plans exploration points in an unknown area only according to the exploration starting point and ending point, and generates a robot exploration path in the unknown area according to the obtained exploration points. The robot runs in the unknown area according to the exploration path to collect environmental information of the unknown area, and constructs map data in the unknown area according to the collected environmental information to obtain target exploration map data, thereby realizing the robot's autonomous exploration and map construction in the unknown area, and improving the robot's autonomy and map updating efficiency in the unknown area.

[0063] In some optional embodiments of the present application, a robot autonomous exploration method is provided. Figure 1 A flowchart of a robot autonomous exploration method provided in this application, such as Figure 1 As shown, the method comprises the following steps:

[0064] S101: Obtaining data to be processed;

[0065] The data to be processed includes starting point data and ending point data, the starting point data is data used to indicate the starting point of the robot, and the ending point data is data used to indicate the ending point of the robot;

[0066] S102: Perform exploration point generation processing on the starting point data and the ending point data to obtain exploration point data;

[0067] The exploration point data is data used to represent the exploration points in the unknown area of ​​the robot;

[0068] In some optional embodiments of the present application, a robot autonomous exploration method is proposed. Figure 2 A flowchart of a robot autonomous exploration method provided in this application, such as Figure 2 As shown, the method includes:

[0069] S201: Identify the data to be processed to obtain initial map data;

[0070] The initial map data is the map data used to represent the initial area of ​​the robot. The data to be processed is identified based on the initial map to obtain the initial map data, which includes the first initial map data and the second initial map data. When the robot has a map of the initial area stored in advance, the initial map data is the map data of the initial area. When the robot has not stored a map of the current initial area in advance, the initial map data does not exist.

[0071] In an optional embodiment of the present application, when the robot is deployed in a working environment, map data of the working environment is not stored in the robot, and the robot autonomously explores and builds a global map in the working environment; when the area of ​​the working environment changes, such as when the working environment area expands, the global map of the original working environment area in the robot is the initial map data.

[0072] S202: performing exploration point generation processing on the initial map data and the starting point data to obtain first exploration point data;

[0073] In some optional embodiments of the present application, a robot autonomous exploration method is proposed, comprising:

[0074] The initial map data is processed for boundary area recognition to obtain boundary area data, where the boundary area data is data used to represent the boundary between the initial map and the unknown area; the boundary area data is processed for target point screening to obtain process target point data, where the process target point data is data used to represent points on the boundary area; the starting point data and the process target point data are processed for exploration point generation based on path distance to obtain first exploration point data.

[0075] In an optional embodiment of the present application, when the area of ​​the robot's working environment changes, the initial map data is a global map of the original working environment, and boundary area data is identified based on the initial map data. The boundary area is where the known area and the unknown area in the map are adjacent. Points on the boundary area are identified as candidate target points, and multiple candidate target points are obtained. The multiple candidate target points are screened based on a point selection algorithm to obtain the above-mentioned process target point; the direction D1 of the first exploration point is determined based on the process target point and the starting point, and the first exploration point is determined based on the direction of the first exploration point and the path distance. The path distance is used to represent the range of the exploration area. The range of the exploration area can be a preset range L1. The position within the preset range L1 from the starting point is calculated in the direction of the first exploration point to obtain the first exploration point.

[0076] In another optional embodiment of the present application, when the robot is deployed in a completely new working environment, relevant map data is not stored in the robot. The robot conducts autonomous exploration in the completely new working environment, and generating a first exploration point includes: the robot collects environmental data at the starting point, collects key frame data in the current starting point area, and constructs starting point area map data based on the key frame data in the starting point area. The starting point area map data is the initial map data. Based on the above method, exploration point generation processing can be performed according to the initial map data and the starting point data to obtain the first exploration point data.

[0077] S203: performing exploration point generation processing on the first exploration point data and the end point data to obtain second exploration point data;

[0078] In an optional embodiment of the present application, after the first exploration point data is obtained as mentioned above, first exploration path data is generated according to the first exploration point data, the robot runs according to the first exploration path data and collects key frame data of the first exploration area, and a map of the first exploration area is constructed according to the collected key frame data of the first exploration area to obtain first exploration area map data; first process exploration point generation processing is performed according to the first exploration area map data and the first exploration point data to obtain first process exploration point data, including: boundary area identification is performed on the first exploration area map data to obtain first boundary area data, target point screening is performed on the first boundary area data to obtain first process target point data; exploration point generation processing based on path distance is performed on the first exploration point data and the first process target point data to obtain first process exploration point data; the above steps of generating process exploration point data are repeated until the distance between the process exploration point and the end point data is less than or equal to the preset path distance, and second exploration point data is obtained, and the second exploration point data is data of a process exploration point whose distance from the end point is less than or equal to the preset path distance.

[0079] S204: Obtain exploration point data according to the first exploration point data and the second exploration point data.

[0080] When the robot is exploring autonomously, process exploration points are generated according to the above exploration point generation method, and the exploration point data includes first exploration point data, second exploration point data and process exploration point data.

[0081] S103: performing exploration path generation processing on the exploration point data to obtain exploration path data;

[0082] The exploration path data is data used to represent the path of the robot in an unknown area;

[0083] In some optional embodiments of the present application, a robot autonomous exploration method is proposed. Figure 3 A flowchart of a robot autonomous exploration method provided in this application, such as Figure 3 As shown, the method includes:

[0084] The exploration point data are identified to obtain first exploration point data and second exploration point data; the starting point data and the first exploration point data are processed for first exploration path generation to obtain first exploration path data; the second exploration point data and the ending point data are processed for second exploration path generation to obtain second exploration path data; the first exploration point data and the second exploration point data are processed for third exploration path generation to obtain third exploration path data; the exploration path data are obtained according to the first exploration path data, the second exploration path data and the third exploration path data.

[0085] In an optional embodiment of the present application, performing first exploration path generation processing on the starting point data and the first exploration point data to obtain the first exploration path data includes:

[0086] When the above-mentioned first exploration point is generated, the exploration point direction D1 is determined according to the process target point and the starting point. On the first exploration point direction D1, at a path distance L1 from the starting point, the first exploration point is obtained. According to the first exploration point direction D1 and the path distance L1, the first exploration path is determined, and reciprocation is performed on the first exploration path. According to the first exploration path and the reciprocating rule, the first exploration path data is obtained.

[0087] In another optional embodiment of the present application, the second exploration point data and the termination point data are processed to generate a second exploration path, and the second exploration path data obtained includes:

[0088] When the above-mentioned second exploration point is generated, the distance between the process exploration point and the termination point data is judged. When the distance between the process exploration point and the termination point data is less than or equal to the preset path distance, the process exploration point is the second exploration point, and the adjacent exploration points of the second exploration point are obtained. A reciprocating exploration path based on the preset reciprocating path distance is generated according to the adjacent exploration points and the second exploration point, a non-reciprocating exploration path is generated according to the second exploration point and the termination point, and a second exploration path is generated according to the reciprocating exploration path and the non-reciprocating exploration path. For example, when the robot conducts autonomous exploration of the unknown area Q1, the initial point is P0 and the end point is P1. In the process of the robot's autonomous exploration from the initial point P0 to the end point P1 in the unknown area Q1, the exploration points include P2, P3, and P4, wherein P4 is a process exploration point whose distance from the end point P1 is less than or equal to the preset path distance, that is, the second exploration point. The second exploration path data is generated based on the second exploration point P4 and the end point P1, including: taking the second exploration point as the starting point, first generating a path with a preset reciprocating path distance in the direction of the adjacent process exploration point P3 to generate a reciprocating exploration path; after the reciprocating path, running from the second exploration point P4 and the end point P1 to generate a non-reciprocating exploration path; and obtaining the second exploration path based on the above-mentioned reciprocating exploration path and the above-mentioned non-reciprocating exploration path.

[0089] In another optional embodiment of the present application, performing a third exploration path generation process on the first exploration point data and the second exploration point data to obtain the third exploration path data includes:

[0090] Generating a third exploration path for the first exploration point data and the second exploration point data includes generating an exploration path between adjacent process exploration points, and generating an exploration path for any adjacent process exploration point includes: the adjacent process exploration of any process exploration point includes a first adjacent process exploration point and a second adjacent process exploration point, the first adjacent process exploration point is the preceding adjacent exploration point of the process exploration point, and the second adjacent process exploration point is the succeeding adjacent exploration point of the process exploration point, the exploration point operation order of the robot in the autonomous exploration process is the first adjacent process exploration point, the process exploration point, and the second adjacent process exploration point, a first reciprocating exploration path based on a preset reciprocating path distance is generated according to the process exploration point and the first adjacent process exploration point, a non-reciprocating exploration path is generated according to the process exploration point and the second adjacent process exploration point, a second reciprocating exploration path based on a preset path distance is generated at the second adjacent process exploration point according to the path direction determined by the process exploration point and the second adjacent process exploration point, and the above-mentioned third exploration path data is obtained according to the first reciprocating exploration path, the non-reciprocating exploration path, and the second reciprocating exploration path.

[0091] S104: Obtaining environmental exploration data;

[0092] The environmental exploration data is used to represent the environmental data of the unknown area collected by the robot according to the exploration path data;

[0093] S105: Performing map construction processing on the environment exploration data to obtain target exploration map data.

[0094] The target exploration map data is map data for representing an unknown area.

[0095] In some optional embodiments of the present application, a robot autonomous exploration method is proposed. Figure 3 A flowchart of a robot autonomous exploration method provided in this application, such as Figure 3 As shown, the method includes:

[0096] S301: performing identification processing on the environment exploration data to obtain first environment exploration data and second environment exploration data;

[0097] The first environment exploration data is used to represent the environment data of the first unknown area collected by the robot during operation, and the second environment exploration data is used to represent the environment data of the second unknown area collected by the robot during operation;

[0098] S302: performing key frame-based map construction processing on the first environment exploration data and the second environment exploration data respectively to obtain first exploration map data and second exploration map data;

[0099] In some optional embodiments of the present application, a robot autonomous exploration method is proposed, comprising:

[0100] The first environment exploration data is subjected to key frame extraction processing to obtain first environment key frame data, which is key frame data used to represent construction of a first unknown area map; the first environment key frame data is subjected to map construction processing based on a mapping algorithm to obtain first environment map data, which is map data used to represent the environment of the first unknown area; the first environment map data and the initial map data are subjected to map update processing based on key frame matching to obtain first exploration map data, which is robot map data used to represent the first unknown area.

[0101] S303: performing a keyframe-based map matching process on the first exploration map data, the second exploration map data and the initial map data to obtain process exploration map data;

[0102] S304: Perform global optimization processing on the process exploration map data to obtain target exploration map data.

[0103] In an optional embodiment of the present application, a SLAM algorithm is used to perform map construction processing on key frame data in the collected environmental data, and the newly created map data is matched with the initial map data, the initial map data is expanded, and the map data constructed in different exploration area stages are matched. In the process of map expansion, the collection of environmental information is improved through reciprocating collection, and the accuracy of map construction is improved. In the process of autonomous exploration by the robot to realize map construction, at a preset optimization distance, the constructed exploration map is globally optimized to improve the accuracy of the newly created map.

[0104] In some optional embodiments of the present application, a robot autonomous exploration device is proposed. Figure 4 A schematic diagram of a robot autonomous exploration device provided in this application, such as Figure 4 As shown, the device comprises:

[0105] A data acquisition module 41 is used to acquire data to be processed, wherein the data to be processed includes starting point data and ending point data, the starting point data is data used to indicate the starting point of the robot, and the ending point data is data used to indicate the ending point of the robot;

[0106] An exploration point module 42, used for performing exploration point generation processing on the starting point data and the ending point data to obtain exploration point data, wherein the exploration point data is data used to represent an exploration point in an unknown area of ​​the robot;

[0107] An exploration path module 43, used for performing exploration path generation processing on the exploration point data to obtain exploration path data, wherein the exploration path data is data used to represent the path of the robot running in the unknown area;

[0108] An exploration data acquisition module 44 is used to acquire environmental exploration data, wherein the environmental exploration data is used to represent environmental data of an unknown area collected by the robot according to the exploration path data;

[0109] The map construction module 45 performs map construction processing on the environment exploration data to obtain target exploration map data, wherein the target exploration map data is map data for representing an unknown area.

[0110] In some optional embodiments of the present application, a robot autonomous exploration device is proposed. Figure 5 A schematic diagram of another robot autonomous exploration device provided for this application, such as Figure 5 As shown, the device comprises:

[0111] An identification module 51 is used to identify the data to be processed to obtain initial map data, wherein the initial map data is map data used to represent an initial area of ​​the robot;

[0112] A first exploration point module 52, configured to perform exploration point generation processing on the initial map data and the starting point data to obtain first exploration point data;

[0113] A second exploration point module 53, configured to perform exploration point generation processing on the first exploration point data and the termination point data to obtain second exploration point data;

[0114] The exploration point generating module 54 is used to obtain the exploration point data according to the first exploration point data and the second exploration point data.

[0115] The specific manner of executing the operation of each unit in the above embodiment has been described in detail in the embodiment of the method, and will not be elaborated here.

[0116] To summarize, in the present application, data to be processed is obtained, wherein the data to be processed includes starting point data and ending point data, wherein the starting point data is data for indicating the starting point of the robot, and the ending point data is data for indicating the ending point of the robot; exploration point generation processing is performed on the starting point data and the ending point data to obtain exploration point data, wherein the exploration point data is data for indicating the exploration point in an unknown area of ​​the robot; exploration path generation processing is performed on the exploration point data to obtain exploration path data, wherein the exploration path data is data for indicating the path of the robot in an unknown area; environmental exploration data is obtained, wherein the environmental exploration data is environmental data for indicating an unknown area collected by the robot according to the exploration path data; map construction processing is performed on the environmental exploration data to obtain target exploration map data, wherein the target exploration map data is map data for indicating an unknown area. By generating exploration points of the robot in an unknown area based on the starting and ending points of the robot, and determining the exploration path based on the exploration points, the robot collects environmental data according to the exploration path, and constructs a map of the collected environmental exploration data to obtain a target exploration map, thereby realizing map construction in the unknown area. This enables the robot to autonomously explore and build maps in unknown areas, thereby improving the robot's degree of autonomy.

[0117] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0118] Obviously, those skilled in the art should understand that the above-mentioned units or steps of the present application can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. In this way, the present application is not limited to any specific combination of hardware and software.

[0119] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot autonomous exploration method, characterized in that: include: Acquire data to be processed, wherein the data to be processed includes starting point data and ending point data, the starting point data is data used to indicate the starting point of the robot, and the ending point data is data used to indicate the ending point of the robot; Performing exploration point generation processing on the starting point data and the ending point data to obtain exploration point data, wherein the exploration point data is data used to represent an exploration point in an unknown area of ​​the robot; Performing exploration path generation processing on the exploration point data to obtain exploration path data, wherein the exploration path data is data used to represent the path of the robot running in the unknown area; Acquire environmental exploration data, wherein the environmental exploration data is used to represent environmental data of an unknown area collected by the robot according to the exploration path data; The environment exploration data is subjected to a map construction process to obtain target exploration map data, wherein the target exploration map data is map data for representing an unknown area.

2. The method according to claim 1, characterized in that Performing exploration point generation processing on the starting point data and the ending point data to obtain the exploration point data includes: Identifying the data to be processed to obtain initial map data, wherein the initial map data is map data for representing an initial area of ​​the robot; Performing exploration point generation processing on the initial map data and the starting point data to obtain first exploration point data; Performing exploration point generation processing on the first exploration point data and the termination point data to obtain second exploration point data; The exploration point data is obtained according to the first exploration point data and the second exploration point data.

3. The method according to claim 2, characterized in that Performing exploration point generation processing on the initial map data and the starting point data to obtain first exploration point data includes: Performing boundary area recognition processing on the initial map data to obtain boundary area data, wherein the boundary area data is data used to represent the boundary between the initial map and the unknown area; Performing target point screening processing on the boundary area data to obtain process target point data, wherein the process target point data is data used to represent points on the boundary area; The starting point data and the process target point data are processed by path distance-based exploration point generation to obtain the first exploration point data.

4. The method according to claim 1, characterized in that: The exploration point data is processed for exploration path generation, and the obtained exploration path data includes: Identify the exploration point data to obtain first exploration point data and second exploration point data; Performing a first exploration path generation process on the starting point data and the first exploration point data to obtain first exploration path data; Performing a second exploration path generation process on the second exploration point data and the termination point data to obtain second exploration path data; performing a third exploration path generation process on the first exploration point data and the second exploration point data to obtain third exploration path data; The exploration path data is obtained according to the first exploration path data, the second exploration path data and the third exploration path data.

5. The method according to claim 1, characterized in that The environment exploration data is subjected to map construction processing to obtain target exploration map data including: Identify and process the environment exploration data to obtain first environment exploration data and second environment exploration data, wherein the first environment exploration data is used to represent the environment data of a first unknown area collected by the robot during operation, and the second environment exploration data is used to represent the environment data of a second unknown area collected by the robot during operation; performing keyframe-based map construction processing on the first environment exploration data and the second environment exploration data respectively to obtain first exploration map data and the second exploration map data; performing a keyframe-based map matching process on the first exploration map data, the second exploration map data and the initial map data to obtain process exploration map data; The process exploration map data is globally optimized to obtain the target exploration map data.

6. The method according to claim 5, characterized in that The first environment exploration data is subjected to a keyframe-based map construction process to obtain the first exploration map data, including: Performing key frame extraction processing on the first environment exploration data to obtain first environment key frame data, wherein the first environment key frame data is key frame data used to represent construction of a first unknown area map; Performing a map construction process based on a mapping algorithm on the first environment key frame data to obtain first environment map data, wherein the first environment map data is map data for representing the environment of the first unknown area; The first environment map data and the initial map data are subjected to a map update process based on key frame matching to obtain the first exploration map data, wherein the first exploration map data is robot map data for representing a first unknown area.

7. A robot autonomous exploration device, characterized in that: include: A data acquisition module, used to acquire data to be processed, wherein the data to be processed includes starting point data and ending point data, the starting point data is data used to indicate the starting point of the robot, and the ending point data is data used to indicate the ending point of the robot; An exploration point module, used to perform exploration point generation processing on the starting point data and the ending point data to obtain exploration point data, wherein the exploration point data is data used to represent an exploration point in an unknown area of ​​the robot; An exploration path module, used for performing exploration path generation processing on the exploration point data to obtain exploration path data, wherein the exploration path data is data used to represent the path of the robot in the unknown area; An exploration data acquisition module, used to acquire environmental exploration data, wherein the environmental exploration data is used to represent the environmental data of the unknown area collected by the robot according to the exploration path data; The map construction module performs map construction processing on the environment exploration data to obtain target exploration map data, wherein the target exploration map data is map data used to represent an unknown area.

8. The device according to claim 7, characterized in that Exploration point modules, including: an identification module, used to identify the data to be processed to obtain initial map data, wherein the initial map data is map data used to represent an initial area of ​​the robot; A first exploration point module, configured to perform exploration point generation processing on the initial map data and the starting point data to obtain first exploration point data; A second exploration point module, configured to perform exploration point generation processing on the first exploration point data and the termination point data to obtain second exploration point data; An exploration point generation module is used to obtain the exploration point data according to the first exploration point data and the second exploration point data.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the robot autonomous exploration method described in any one of claims 1-6.

10. An electronic device, characterized in that: include: at least one processor; And a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor executes the robot autonomous exploration method described in any one of claims 1-6.

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