Indoor and outdoor integrated navigation method, robot, storage medium and product

Abstract

The invention discloses an indoor and outdoor integrated navigation method, a robot, a storage medium and a product, and relates to the technical field of navigation. The method comprises the steps that a navigation map of an application scene is obtained, the navigation map comprises a plurality of sub-maps, the sub-maps are matched with areas in the application scene in a one-to-one mode, and the sub-map of a narrow channel area is a two-dimensional code map; the sub-map of the open area is a laser map; each sub-map is marked with a key point location, and the key point locations comprise a parking point location and a switching point location; based on the navigation map, performing navigation path search on the starting position and the ending position of the task to obtain a plurality of navigation path schemes; selecting an optimal navigation path from the plurality of navigation path schemes; performing path navigation according to the optimal navigation path; in the path navigation process, map switching is carried out through the switching point positions in the sub-maps. According to the invention, the map switching problem in indoor and outdoor navigation and the compatibility problem of passing through a specific narrow channel and a door are effectively solved.

Description

Technical Field

[0001] The present invention belongs to the field of navigation technology, and in particular relates to an indoor and outdoor integrated navigation method, a robot, a storage medium and a product. Background Art

[0002] Simultaneous Localization and Mapping (SLAM) and autonomous navigation technology are currently hot topics in the field of robotics. When a robot works in an indoor or outdoor environment or a signal-shielded environment, it cannot obtain absolute position information through the Global Positioning System (GPS), and the imperfect environmental knowledge makes it impossible for the robot to complete the task. SLAM technology was born to solve this problem. By using SLAM technology to build an environmental map, the robot can autonomously navigate according to the environmental map, and plan a reasonable route through path planning technology to reach the designated target point and complete the task.

[0003] At present, two-dimensional SLAM technologies such as the cartographer algorithm are usually used to build maps for indoor and outdoor environments, and then design routes for planning and navigation. This type of algorithm has the following defects:

[0004] (1) It is difficult to use 2D laser SLAM technology to achieve high-precision positioning in highly undulating environments: In locations with undulations or slopes, there is a projection error in the matching of 2D laser data and maps, resulting in inconsistencies between the map and the positioning height. The environmental data scanned by the single-line laser radar is different, resulting in errors in the matching results. The positioning accuracy of 2D laser SLAM technology is ±10cm. Due to the characteristics of laser radar, the measurement error of laser radar is greater at closer distances, which will further reduce the positioning accuracy.

[0005] (2) When a narrow passage appears on a specific navigation route or an interactive door needs to be opened, it cannot be realized due to positioning accuracy and scalability: the existing solution lacks multi-map switching function and a complete task scheduling system, and it is impossible to interact with the environment and navigate. Summary of the invention

[0006] The purpose of the present invention is to provide an indoor and outdoor integrated navigation method, robot, storage medium and product to solve at least one of the problems that traditional technologies are difficult to achieve more precise positioning in narrow indoor environments, and are difficult to achieve compatibility in narrow passages and door points.

[0007] The present invention solves the above technical problems through the following technical solutions: an indoor and outdoor integrated navigation method, comprising:

[0008] Obtaining a navigation map of the application scenario; wherein the navigation map includes a plurality of sub-maps, and the sub-maps are matched one by one with the areas in the application scenario; when the width of the area is less than a set width threshold, the sub-map of the area is a QR code map; when the width of the area is greater than or equal to the set width threshold, the sub-map of the area is a laser map; key points are marked on the sub-map, and the key points include stop points and switch points;

[0009] Obtaining a task instruction; wherein the task instruction includes a starting position and an ending position of the navigation path;

[0010] Based on the navigation map, performing navigation path search for the starting position and the ending position to obtain multiple navigation path solutions;

[0011] Selecting an optimal navigation path from a plurality of navigation path solutions;

[0012] Path navigation is performed according to the optimal navigation path; wherein, during the path navigation process, after the path tracking of the current area is completed by using the path tracking algorithm corresponding to the sub-map of the current area, the map is switched through the switching point of the sub-map of the current area, so that the next area uses the path tracking algorithm corresponding to the sub-map of the next area to perform path tracking until the end position is reached.

[0013] Furthermore, the specific construction process of the laser map is as follows:

[0014] Obtain three-dimensional point cloud data of the area;

[0015] Constructing a three-dimensional point cloud map according to the three-dimensional point cloud data;

[0016] Drawing a vector road network map on the three-dimensional point cloud map to obtain a laser road network map;

[0017] According to application requirements, key points are marked on the laser road network map.

[0018] Furthermore, the specific construction process of the QR code map is as follows:

[0019] Post QR code landmarks in the area according to application requirements and navigation accuracy;

[0020] Writing the position transformation relationship between the two-dimensional code landmarks into the map connection configuration to obtain a two-dimensional code configuration map; wherein the position transformation relationship includes the translation relationship and the rotation relationship between the two-dimensional code landmarks;

[0021] Key points are marked on the two-dimensional code configuration map to obtain a two-dimensional code map.

[0022] Furthermore, a breadth-first search algorithm is used to search the navigation path for the starting position and the ending position.

[0023] Further, selecting an optimal navigation path from the plurality of navigation path solutions comprises:

[0024] The Dijkstra algorithm is used to search for the shortest path for each navigation path solution to obtain the corresponding complete navigation path;

[0025] Calculate the time cost of each complete navigation path;

[0026] The complete navigation path with the minimum time cost is selected as the optimal navigation path.

[0027] Furthermore, the specific calculation formula of the time cost of each complete navigation path is:

[0028]

[0029] Among them, W i represents the time cost of the i-th complete navigation path; N i Indicates the number of sub-path segments of the ith complete navigation path; t ik represents the time of the kth sub-path of the ith complete navigation path, t ik is equal to the ratio of the length of the k-th sub-path to the speed of movement; when the k-th sub-path is a gate, t ik It is equal to the sum of the door opening time, the door passing time and the door closing time. The door opening time and the door closing time are both greater than or equal to zero, and the door passing time is greater than zero.

[0030] Furthermore, when the sub-map of the next area is a QR code map, the map switching is achieved by reading the QR code landmark posted on the corresponding switching point of the sub-map of the current area;

[0031] When the sub-map of the next area is a laser map, the initial positioning position of the sub-map of the next area is obtained by reading the map connection configuration of the corresponding switching point of the sub-map of the current area, thereby realizing map switching.

[0032] Based on the same concept, the present invention also provides a robot, including a memory, a processor, and a computer program / instructions stored in the memory, wherein the processor executes the computer program / instructions to implement the indoor and outdoor integrated navigation method as described above.

[0033] Based on the same concept, the present invention also provides a computer-readable storage medium having a computer program / instruction stored thereon, which, when executed by a processor, implements the indoor and outdoor integrated navigation method as described above.

[0034] Based on the same concept, the present invention also provides a computer program product, including a computer program / instruction, which implements the indoor and outdoor integrated navigation method as described above when executed by a processor.

[0035] Beneficial Effects

[0036] Compared with the prior art, the advantages of the present invention are:

[0037] The present invention adopts a two-dimensional code map for specific narrow passages and doors, and a laser map for wider outdoor and indoor areas. The map switching of different areas is realized through the switching points of each sub-map, which effectively solves the map switching problem in indoor and outdoor navigation and the compatibility problem of passing through specific narrow passages and doors.

[0038] The present invention adopts more accurate two-dimensional code maps in specific narrow passages and door areas, provides more accurate navigation and positioning effects by combining multiple navigation methods, and can handle specific actions and environmental interactions when switching maps. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only one embodiment of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 is a flow chart of the indoor and outdoor integrated navigation method in an embodiment of the present invention;

[0041] Figure 2 It is a schematic diagram of the structure of a practical application scenario in an embodiment of the present invention;

[0042] Figure 3 Schematic diagram of three switching configurations between sub-maps in an embodiment of the present invention;

[0043] Figure 4 In the embodiment of the present invention Figure 2 The switching configuration structure diagram of the application scenario shown;

[0044] Figure 5 It is a flow chart of path navigation in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The following is a clear and complete description of the technical solutions in the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0047] Embodiment 1

[0048] Figure 1 FIG. 2 shows a flow chart of the indoor and outdoor integrated navigation method provided by the present invention. Figure 1 As shown, the navigation method comprises the following steps:

[0049] Step 1: Get the navigation map of the application scenario.

[0050] After determining the application scenario, first build a navigation map of the application scenario, and then perform path navigation based on the navigation map. In order to achieve more accurate positioning and navigation, the area is divided according to the connectivity of each space in the application scenario. A sub-map is built for each area. The map type is selected according to the width of the area. Different map types use different path tracking algorithms; where the area refers to the space available for the robot to pass. For example, laser maps use laser navigation path tracking technology; QR code maps use QR code navigation path tracking technology.

[0051] Specifically, when the width of the area is less than the set width threshold, the sub-map of the area is a QR code map; when the width of the area is greater than or equal to the set width threshold, the sub-map of the area is a laser map; each sub-map is marked with key points, including stop points and switch points. For QR code maps, key points also include turning points. Stop points are used for docking when performing tasks or charging. Switch points are used for map switching between different areas. Turning points are used to change the direction of the navigation path. The specific locations and map connection configurations of stop points, switch points and turning points can be determined through on-site debugging. All key points in each sub-map are interconnected, and the connection path between any two key points in the sub-map can be obtained through a search algorithm in the sub-map. For indoor narrow scenes, QR code maps are used. Millimeter-level positioning accuracy can be achieved through QR code landmarks, which is more suitable for narrow scenes. QR code maps are also used in open areas, but their deployment is more time-consuming.

[0052] In this embodiment, the width threshold is 3 times the width of the robot.

[0053] by Figure 2 Taking the application scenario shown as an example, the application scenario is divided into 10 areas, specifically 1 outdoor area (i.e., outdoor 1), 3 room areas (i.e., room 2, room 3, and room 4), 1 narrow passage area (i.e., narrow passage 7), and 5 door areas (i.e., door 5 between outdoor 1 and room 2, door 10 between outdoor 1 and room 3, door 8 and door 9 between room 4 and outdoor 1, and doorless passage 6 between room 2 and room 4). The sub-maps of outdoor 1, room 2, and room 4 are all laser maps, and the sub-maps of narrow passage 7, door 5, door 10, door 8, door 9, doorless passage 6, and room 3 are all QR code maps. Since there are obstacles in room 3, the passage in room 3 is too narrow, so room 3 also uses a QR code map.

[0054] Outdoor 1 can enter Room 2 through Door 5, so a switching point is marked on the sub-map of Outdoor 1 near Door 5 (i.e. Figure 2 The switch point is marked on the sub-map of room 2 near door 5 (i.e. Figure 2 Room 2 can enter Room 4 through Doorless Passage 6, so a switching point is marked on the submap of Room 2 near Doorless Passage 6 (i.e. Figure 2 The switch point is marked on the sub-map of room 4 near the doorless passage 6 (i.e. Figure 2 Room 2 can enter Room 3 through narrow passage 7, so a switching point is marked on the submap of Room 2 near narrow passage 7 (i.e. Figure 2 The switch point is marked on the sub-map of room 3 near narrow passage 7 (i.e. Figure 2 Room 3 can be entered from Outdoor 1 through Door 10, so a switching point is marked on the sub-map of Outdoor 1 near Door 10 (i.e. Figure 2 The switch point is marked on the sub-map of room 3 near door 10 (i.e. Figure 2 Room 3 in the middle). Outdoor 1 can enter Room 4 through Door 8, so a switching point is marked on the sub-map of Outdoor 1 near Door 8 (i.e. Figure 2 The switch point is marked on the sub-map of room 4 near door 8 (i.e. Figure 2 Room 4 can be entered from Outdoor 1 through Door 9, so a switch point is marked on the sub-map of Outdoor 1 near Door 9 (i.e. Figure 2 The switch point is marked on the sub-map of room 4 near door 9 (i.e. Figure 2 (Point ③ in middle room 4).

[0055] In a specific embodiment of the present invention, the specific construction process of the laser map is as follows:

[0056] Step 1.11: Use 3D laser radar to obtain 3D point cloud data of the area;

[0057] Step 1.12: Use SLAM algorithm to construct a 3D point cloud map based on the 3D point cloud data;

[0058] Step 1.13: Draw a vector road network map on the three-dimensional point cloud map to obtain a laser road network map;

[0059] Step 1.14: Based on application requirements, use the marking tool to mark key points on the laser road network map, that is, mark the stop points for executing tasks and the switching points for switching with adjacent sub-maps.

[0060] For laser maps, laser path tracking technology is used, that is, the real-time position of the robot in the laser map can be obtained through laser scanning technology, thereby achieving real-time positioning and path tracking. The real-time position of the robot in the laser map is based on the point cloud coordinate system

[0061] In a specific embodiment of the present invention, the specific construction process of the two-dimensional code map is as follows:

[0062] Step 1.21: Post QR code landmarks in the area according to application requirements and navigation accuracy; the higher the navigation accuracy, the smaller the distance between adjacent QR code landmarks; the maximum distance between QR code landmarks in this embodiment is 1 meter;

[0063] Step 1.22: Write the position transformation relationship between each QR code landmark into the map connection configuration, and generate a QR code configuration map according to the QR code landmark arrangement; wherein the position transformation relationship includes the translation relationship and rotation relationship between the QR code landmarks;

[0064] Step 1.23: Mark key points on the QR code configuration map to obtain the QR code map.

[0065] Each QR code landmark corresponds to a local coordinate system. The local coordinate systems of all QR code landmarks in the same QR code map have the same coordinate axes but different coordinate origins. The translation and rotation relationships between two adjacent local coordinate systems are the position transformation relationships between two adjacent QR code landmarks. By reading the position transformation relationship of each two-dimensional landmark, the robot is guided to the next QR code landmark, thereby realizing QR code path navigation.

[0066] Step 2: Get the task instruction, which includes the starting position and the ending position of the navigation path.

[0067] Step 3: Based on the navigation map, a navigation path search is performed for the starting location and the ending location to obtain multiple navigation path solutions.

[0068] In a specific embodiment of the present invention, a breadth-first search algorithm (BFS) is used to search the navigation path for the starting position and the ending position in the task instruction. Breadth-first search, also known as width-first search, is an algorithm for traversing a graph storage structure, which is applicable to both undirected graphs (networks) and directed graphs (networks). The breadth-first search algorithm uses a queue (deque) as its core, and its search core is to start from the starting node, find a legal and feasible point that can be reached in one step (there may be other conditions and restrictions), and add it to the queue, then pop up the starting node, and perform the search operation on the nodes in the queue in turn until the queue is empty.

[0069] by Figure 2 As an example of the application scenario shown in the figure, assume that the starting position is the stop point 5 of room 2 (not in Figure 2 It is shown in Figure 2 Only the switching point is shown), and the end position is the stop point 7 of room 3 (not shown in Figure 2 It is shown in Figure 2 Only the switching point is shown), which is simply expressed as 2.5 to 3.7, where the first number represents the area number, and the second number represents the number of the stop point or the switching point. The stop point is represented by a number without a circle, and the switching point is represented by a number with a circle. Using the BFS algorithm on the navigation map to find the route from 2.5 to 3.7, three routes can be obtained:

[0070] Room 2 → Narrow Passage 7 → Room 3;

[0071] Room 2 → Outdoor 1 → Room 3;

[0072] Room 2 → Room 4 → Outdoor 1 → Room 3.

[0073] Then, according to the connection relationship between the sub-maps, the searched links are expanded to obtain the corresponding navigation path solution:

[0074] The route of room 2 → narrow passage 7 → room 3 is expanded to:

[0075] 2·5→2·②(indicates the switch point of room 2 ②)→narrow passage 7→3·①→3·7

[0076] The route of room 2 → outdoor 1 → room 3 is expanded to:

[0077] 2·5→2·①→Door 5→1·①→1·④→Door 10→3·②→3·7

[0078] The route of room 2 → room 4 → outdoor 1 → room 3 is expanded to:

[0079] 2·5→2·③→4·①→4·②→Door8→1·②→1·④→Door10→3·②→3·7

[0080] 2·5→2·③→4·①→4·③→Door 9→1·③→1·④→Door 10→3·②→3·7

[0081] Step 4: Select the optimal navigation path from multiple navigation path solutions.

[0082] In a specific embodiment of the present invention, selecting an optimal navigation path from multiple navigation path solutions includes:

[0083] Step 4.1: Use Dijkstra algorithm to search for the shortest path for each navigation path solution to obtain the corresponding complete navigation path;

[0084] Step 4.2: Calculate the time cost of each complete navigation path; the specific calculation formula is:

[0085]

[0086] Among them, W i represents the time cost of the i-th complete navigation path; N i Indicates the number of sub-path segments of the ith complete navigation path; t ik represents the time of the kth sub-path of the ith complete navigation path, t ik is equal to the ratio of the length of the k-th sub-path to the speed of movement; when the k-th sub-path is a gate, t ik It is equal to the sum of the door opening time, the door passing time and the door closing time. The door opening time and the door closing time are both greater than or equal to zero, and the door passing time is greater than zero.

[0087] Step 4.3: Select the complete navigation path with the minimum time cost as the optimal navigation path.

[0088] Exemplarily, the Dijkstra algorithm is used to search for the shortest path for each navigation path solution from 2.5 to 3.7, and the complete navigation paths (the bracketed part indicates the shortest path after searching within the same sub-map) are:

[0089] [2·5→2·②]→Narrow channel 7→[3·①→3·7]

[0090] [2·5→2·①]→Gate 5→[1·①→1·④]→Gate 10→[3·②→3·7]

[0091] [2·5→2·③]→[4·①→4·②]→Door 8→[1·②→1·④]→Door 10→[3·②→3·7]

[0092] [2·5→2·③]→[4·①→4·③]→Gate 9→[1·③→1·④]→Gate 10→[3·②→3·7]

[0093] The time costs are calculated for the above four complete navigation paths. Assume that the time cost of the robot's laser navigation walking is A, the time cost of the QR code navigation walking is B, the time cost of passing through the door is C, and the time cost of passing through a narrow channel is D. The calculation of time cost A is: the ratio of the length of the current laser trajectory sub-path to the laser navigation movement speed; the calculation of time cost B is: the ratio of the length of the current QR code trajectory sub-path to the QR code navigation movement speed; the calculation of time cost C is: door opening time + door passing time + door closing time. The door opening time, door passing time and door closing time can be obtained through calibration; the calculation of time cost D is: the ratio of the current narrow channel length to the movement speed of the narrow channel.

[0094] Therefore, the time costs of the above four complete navigation paths are:

[0095] W1=A(2·5,2·②)+D(7)+B(3·①,3·7)

[0096] W2=A(2·5,2·①)+C(5)+B(1·①,1·④)+C(10)+B(3·②,3·7)

[0097] W3=A(2·5,2·③)+A(4·①,4·②)+C(8)+A(1·②,1·④)+C(10)+B(3·②,3·7)

[0098] W4=A(2·5,2·③)+A(4·①,4·③)+C(9)+A(1·③,1·④)+C(10)+B(3·②,3·7)

[0099] According to the time cost calculation results of each complete navigation path, the complete navigation path corresponding to the minimum value is selected as the optimal navigation path.

[0100] Step 5: Perform path navigation according to the optimal navigation path.

[0101] In the process of path navigation, different areas need to adopt the path tracking technology corresponding to the sub-map of the area, so when switching areas, it is necessary to switch sub-maps. The navigation map of the present invention includes a laser map and a QR code map. The area includes an area with a width less than a set width threshold (such as a narrow passage, a door, and room 3) and an area with a width greater than or equal to the set width threshold (outdoor 1, room 2, and room 4). Therefore, the switching configuration between sub-maps is divided into three types: direct switching, interactive switching through doors, and switching through narrow passages, such as Figure 3 shown.

[0102] After the path tracking algorithm corresponding to the sub-map of the current area is used to complete the path tracking of the current area, the map is switched through the switching point of the sub-map of the current area, so that the next area uses the path tracking algorithm corresponding to the sub-map of the next area to track the path until all paths are tracked and reach the end position, such as Figure 5 shown.

[0103] In a specific embodiment of the present invention, when the sub-map of the next area is a QR code map, the map switching is achieved by reading the QR code landmark posted on the corresponding switching point of the sub-map of the current area;

[0104] When the sub-map of the next area is a laser map, the initial positioning position of the sub-map of the next area is obtained by reading the map connection configuration of the corresponding switching point of the sub-map of the current area, thereby realizing map switching.

[0105] by Figure 2 As an example of the application scenario shown in the figure, three sub-map switching configuration modes are used to connect different sub-maps. The final navigation map structure is as follows Figure 4 shown. Figure 4 In the laser Figure 1 Laser map showing outdoor 1, QR code map Figure 3 The QR code map of room 3, laser map Figure 2 Represents the laser map of room 2. Figure 4 The laser map of room 4 is shown; the narrow channel 7 is actually a QR code map. Coordinate system switching refers to the coordinate system switching caused by factor map switching. For example, when switching from a laser map to a QR code map, the point cloud coordinate system is switched to the local coordinate system of the QR code map.

[0106] When switching from a laser map to a QR code map, a QR code landmark is posted on the corresponding switching point of the laser map. The robot reads the QR code landmark to achieve map switching, and the position relationship read from the QR code landmark guides the robot to move to the next QR code landmark.

[0107] When switching from the QR code map to the laser map, the coordinate position of the corresponding switching point of the QR code map in the point cloud coordinate system is used as the initial positioning position of the robot. The map connection configuration of the switching point can be read to obtain the initial positioning position of the robot, realize map switching, and perform laser navigation path tracking based on the initial positioning position to complete the path navigation in the laser map.

[0108] For different areas, corresponding sub-maps and path tracking algorithms are used for path navigation tracking. The paths are executed sequentially in the order of the optimal navigation path, and finally the navigation tracking of all paths is completed to reach the terminal position (i.e., the target stop point).

[0109] Embodiment 2

[0110] An embodiment of the present invention further provides a robot, comprising: a memory, a processor, and a computer program / instructions stored in the memory, wherein the processor executes the computer program / instructions to implement the indoor and outdoor integrated navigation method in the embodiment of the present application.

[0111] Although not shown, the robot includes a processor that can perform various appropriate operations and processes according to the programs and / or data stored in a read-only memory (ROM) or the programs and / or data loaded from the storage portion into a random access memory (RAM). The processor can be a multi-core processor or can include multiple processors. In some embodiments, the processor can include a general-purpose main processor and one or more special coprocessors, such as a central processing unit, a graphics processing unit (GPU), a neural network processor (NPU), a digital signal processor (DSP), etc. In RAM, various programs and data required for robot operation are also stored. The processor, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0112] The processor and memory are used together to execute the program / instructions stored in the memory. When the program / instructions are executed by the computer, the methods, steps or functions described in the above embodiments can be implemented.

[0113] Although not shown, an embodiment of the present invention further provides a computer-readable storage medium having a computer program / instruction stored thereon, which, when executed by a processor, implements the indoor and outdoor integrated navigation method in the embodiment of the present application.

[0114] Readable storage media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0115] Although not shown, an embodiment of the present invention further provides a computer program product, including: a computer program / instruction, which, when executed by a processor, implements the indoor and outdoor integrated navigation method in the embodiment of the present application.

[0116] What is disclosed above is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or modifications within the technical scope disclosed in the present invention, which should be covered within the protection scope of the present invention.

Claims

1. An indoor and outdoor integrated navigation method, characterized in that: The navigation method comprises: Obtaining a navigation map of the application scenario; wherein the navigation map includes a plurality of sub-maps, and the sub-maps are matched one by one with the areas in the application scenario; when the width of the area is less than a set width threshold, the sub-map of the area is a QR code map; when the width of the area is greater than or equal to the set width threshold, the sub-map of the area is a laser map; key points are marked on the sub-map, and the key points include stop points and switch points; Obtaining a task instruction; wherein the task instruction includes a starting position and an ending position of the navigation path; Based on the navigation map, performing navigation path search for the starting position and the ending position to obtain multiple navigation path solutions; Selecting an optimal navigation path from a plurality of navigation path solutions; Path navigation is performed according to the optimal navigation path; wherein, during the path navigation process, after the path tracking of the current area is completed by using the path tracking algorithm corresponding to the sub-map of the current area, the map is switched through the switching point of the sub-map of the current area, so that the next area uses the path tracking algorithm corresponding to the sub-map of the next area to perform path tracking until the end position is reached.

2. The indoor and outdoor integrated navigation method according to claim 1, characterized in that: The specific construction process of the laser map is as follows: Obtain three-dimensional point cloud data of the area; Constructing a three-dimensional point cloud map according to the three-dimensional point cloud data; Drawing a vector road network map on the three-dimensional point cloud map to obtain a laser road network map; According to application requirements, key points are marked on the laser road network map.

3. The indoor and outdoor integrated navigation method according to claim 1, characterized in that: The specific construction process of the QR code map is as follows: Post QR code landmarks in the area according to application requirements and navigation accuracy; Writing the position transformation relationship between the two-dimensional code landmarks into the map connection configuration to obtain a two-dimensional code configuration map; wherein the position transformation relationship includes the translation relationship and the rotation relationship between the two-dimensional code landmarks; Key points are marked on the two-dimensional code configuration map to obtain a two-dimensional code map.

4. The indoor and outdoor integrated navigation method according to claim 1, characterized in that: A breadth-first search algorithm is used to search the navigation path for the starting position and the ending position.

5. The indoor and outdoor integrated navigation method according to claim 1, characterized in that: Selecting an optimal navigation path from the plurality of navigation path solutions comprises: The Dijkstra algorithm is used to search for the shortest path for each navigation path solution to obtain the corresponding complete navigation path; Calculate the time cost of each complete navigation path; The complete navigation path with the minimum time cost is selected as the optimal navigation path.

6. The indoor and outdoor integrated navigation method according to claim 5, characterized in that: The specific calculation formula for the time cost of each complete navigation path is: Among them, W i represents the time cost of the i-th complete navigation path; N i Indicates the number of sub-path segments of the ith complete navigation path; t ik represents the time of the kth sub-path of the ith complete navigation path, t ik is equal to the ratio of the length of the k-th sub-path to the speed of movement; when the k-th sub-path is a gate, t ik It is equal to the sum of the door opening time, the door passing time and the door closing time. The door opening time and the door closing time are both greater than or equal to zero, and the door passing time is greater than zero.

7. The indoor and outdoor integrated navigation method according to any one of claims 1 to 6, characterized in that: When the sub-map of the next area is a QR code map, the map switching is achieved by reading the QR code landmark posted on the corresponding switching point of the sub-map of the current area; When the sub-map of the next area is a laser map, the initial positioning position of the sub-map of the next area is obtained by reading the map connection configuration of the corresponding switching point of the sub-map of the current area, thereby realizing map switching.

8. A robot comprising a memory, a processor and a computer program / instructions stored in the memory, characterized in that: The processor executes the computer program / instructions to implement the indoor and outdoor integrated navigation method according to any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instruction is executed by a processor, the indoor and outdoor integrated navigation method as described in any one of claims 1 to 7 is implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the indoor and outdoor integrated navigation method as described in any one of claims 1 to 7 is implemented.

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