Mobile robot navigation map switching method and device, equipment and medium

Abstract

The invention discloses a mobile robot navigation map switching method, device and equipment and a medium, and the method comprises the steps: dividing a global map into a plurality of continuous blocks according to needs, and forming a sub-map by each block; connecting points are arranged at the junctions of the adjacent sub-maps, the mobile robot starts to run navigation programs on the sub-maps, and map switching is triggered when the mobile robot moves to the connecting points of the sub-maps; decomposing a navigation track of the robot on the global map into a plurality of sections of navigation tracks between the connection points of the sub-maps; after map switching is triggered, the mobile robot performs primary pose positioning so as to determine the position of the robot in the new map environment at the current moment; and taking the obtained pose as an initial pose for navigation of the mobile robot, and realizing continuous navigation of the robot on the sub-map until the robot reaches a navigation target point. According to the invention, the small-size sub-map with continuity is used for replacing a large-size global map, so that the navigation map of the mobile robot is simplified.

Description

Technical Field

[0001] The present invention relates to the field of mobile robot positioning, mapping and navigation, and particularly to a method, device, equipment and medium for switching navigation maps of a mobile robot. Background Art

[0002] When an intelligent mobile robot performs tasks of autonomous positioning and autonomous navigation, it usually requires the assistance of a global map of the environment where the robot is located. The global map can intuitively show the operator the positional relationship between the starting point and the target point of the robot. However, in some cases, the mobile robot only moves frequently in a local area of the global map of the environment where it is located, and rarely moves in most other areas of the global map, thus reducing the utilization rate of the navigation map. Summary of the Invention

[0003] To solve at least one of the technical problems existing in the prior art to a certain extent, an object of the present invention is to provide a method, device, equipment and medium for switching navigation maps of a mobile robot.

[0004] The first technical solution adopted by the present invention is as follows:

[0005] A method for switching navigation maps of a mobile robot includes the following steps:

[0006] Dividing the global map M into a plurality of continuous blocks as needed, and each block forms a sub-map m i , i = 1, 2,..., n, and the mobile robot is initially located at a certain point on the sub-map m 0 ;

[0007] Setting connection points p ij , j = 1, 2,..., m, and the mobile robot starts to run a navigation program at a certain point on the sub-map m 0 , and when the mobile robot moves to the connection point of the sub-map, map switching is triggered;

[0008] Screening out the set of sub-maps {m 0 , m 1 ,..., m k} that the mobile robot needs to pass through during the movement according to the number k of the sub-map where the navigation target point is located, k = 0, 1, 2,..., n, and decomposing the navigation trajectory of the robot on the global map into several navigation trajectories between the connection points of the sub-maps;

[0009] After map switching is triggered, the mobile robot performs a pose positioning to determine the position P of the robot in the new map environment at the current moment i ;

[0010] Use the obtained pose as the initial pose for the mobile robot's navigation, and achieve continuous navigation of the robot on the sub-map until the robot reaches the navigation target point.

[0011] Further, the dividing the global map into multiple continuous blocks as needed includes:

[0012] Divide the global map M of the environment where the mobile robot is located into multiple continuous rectangular blocks according to the needs of the user, and the divided blocks need to cover the entire area of the global map, that is, the original global map can be restored from the combination of these blocks;

[0013] Use image cropping software to crop the blocks from the global map image, and the cropped images are regarded as sub-maps of the global map.

[0014] Further, there is a partially overlapping area between adjacent blocks, that is, a certain area in the previous block and a certain area in the next block physically correspond to the same area in the global map.

[0015] Further, the setting connection points at the junction of adjacent sub-maps includes:

[0016] The connection points of the sub-maps are used to mark the connection relationship between the sub-maps, that is, the connection point p on the sub-map m 1 and the connection point p on the sub-map m 11 are the same point on the global map. When the mobile robot moves to the connection point of a certain sub-map, the program completes the map switching according to the pre-set corresponding relationship of the connection points; 2 21

[0017] The connection points are set in the common area of adjacent sub-maps to ensure that a certain connection point in the previous sub-map can find a point with the same physical meaning in the next sub-map;

[0018] There is a feasible area between multiple connection points in the sub-map, and the connection points are set in the feasible area of the sub-map to ensure that the mobile robot can pass smoothly between these connection points.

[0019]

[0020] Further, the triggering method of the connection point is: when the mobile robot moves within a preset distance around the connection point, it is regarded as triggering the connection point. At this time, the navigation environment switches to the next sub-map and continues to complete the navigation task.

[0020] Further, the decomposing the navigation trajectory of the robot on the global map into several navigation trajectories between the connection points of the sub-maps includes:

[0021] Decompose the navigation path S in the global map into the path from the navigation starting point to the first connection point, the paths between multiple sub - map connection points, and the set of paths from the last connection point to the navigation target point {S 0 , S 1 , S 2 , …, S n}; when the mobile robot passes through a certain sub - map m i , it only needs to move along the corresponding path S i .

[0022] Furthermore, after triggering the map switch, the mobile robot performs a pose positioning to determine the position of the robot in the new map environment at the current moment, including:

[0023] Establish a local map m of the robot at the connection point p ij , and perform image feature matching between this local map and the sub - map m where the current robot is located local to obtain the relative position relationship between the two, that is, the position of the robot, and obtain the position P i of the robot at the connection point p ij after the map switch. i .

[0024] The second technical solution adopted by the present invention is:

[0025] A mobile robot navigation map switching device, including:

[0026] A map division module, used to divide the global map into multiple continuous blocks as needed, and each block constitutes a sub - map;

[0027] A connection point setting module, used to set connection points at the junctions of adjacent sub - maps. The mobile robot starts running the navigation program on the sub - map, and when the mobile robot moves to the sub - map connection point, it triggers the map switch;

[0028] A trajectory division module, used to obtain the set of sub - maps that the mobile robot needs to pass through during the movement process, and decompose the navigation trajectory of the robot on the global map into several navigation trajectories between the connection points of the sub - maps;

[0029] A map switching module, used to perform a pose positioning for the mobile robot after triggering the map switch to determine the position of the robot in the new map environment at the current moment;

[0030] A continuous navigation module, used to use the obtained pose as the initial pose for the mobile robot navigation, and realize the continuous navigation of the robot on the sub - map until the robot reaches the navigation target point.

[0031] The third technical solution adopted by the present invention is:

[0032] An electronic device, the electronic device includes a processor and a memory, and at least one instruction, at least one program, a code set or an instruction set is stored in the memory, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement a mobile robot navigation map switching device as described above.

[0033] The fourth technical solution adopted by the present invention is:

[0034] A computer-readable storage medium, in which at least one instruction, at least one program, a code set or an instruction set is stored, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement a mobile robot navigation map switching device as described above.

[0035] The fifth technical solution adopted by the present invention is:

[0036] A computer program product or a computer program, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes a mobile robot navigation map switching device as described above.

[0037] The present invention has the following advantages and beneficial effects:

[0038] (1) A method for switching a navigation map of a mobile robot based on attitude information fusion according to the present invention uses small-sized sub-maps with continuity to replace a large-sized global map, simplifying the navigation map of the mobile robot.

[0039] (2) The present invention decomposes the navigation path on the global map into a set of paths between connection points on the sub-maps, and screens out the sub-map areas where the mobile robot often moves, improving the utilization rate of the navigation map.

[0040] (3) The present invention is not complex compared with the prior art, has low requirements for hardware computing power, and is convenient to implement on various mobile robot platforms. Description of the Drawings

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following introduces the related technical solution drawings in the embodiments of the present invention or the prior art. It should be understood that the drawings introduced below only facilitate the clear expression of some embodiments of the technical solutions in the present invention. For those skilled in the art, without creative labor, other drawings can also be obtained based on these drawings.

[0042] Figure 1 This is the overall flowchart of the mobile robot navigation map switching method based on attitude information fusion in the embodiments of the present invention;

[0043] Figure 2 This is an example diagram of the global map of the laboratory scenario in the embodiments of the present invention;

[0044] Figure 3 This is an example diagram of the set of sub - maps {m 1 , m 2 , m 3} obtained by dividing the global map in the embodiments of the present invention;

[0045] Figure 4 This is an example diagram of setting connection points on the sub - map in the embodiments of the present invention;

[0046] Figure 5 This is an example diagram of the navigation path on the global map in the embodiments of the present invention;

[0047] Figure 6 This is an example diagram of the navigation path on the sub - map m 1 in the embodiments of the present invention;

[0048] Figure 7 This is an example diagram of the navigation path on the sub - map m 2 in the embodiments of the present invention;

[0049] Figure 8 This is an example diagram of the navigation path on the sub - map m 3 in the embodiments of the present invention;

[0050] Figure 9 This is the step flowchart of a mobile robot navigation map switching method in the embodiments of the present invention. Detailed implementation manners

[0051] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. For the step numbers in the following embodiments, they are only set for the convenience of description and illustration, and no limitation is imposed on the order between the steps. The execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0052] In the description of the present invention, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., it is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0053] In the description of the present invention, the meaning of "several" is one or more, the meaning of "multiple" is more than two, and understandings such as "greater than", "less than", "exceeding", etc. do not include the original number, and understandings such as "above", "below", "within", etc. include the original number. If there is a description of "first" and "second", it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0054] In the description of the present invention, unless otherwise clearly defined, words such as "set", "install", "connect", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0055] Aiming at the existing technical problems, the present invention divides the global map into a set of several sub - maps, and extracts the sub - map belonging to the area where the mobile robot often moves from them to replace the large - size global map to simplify the environmental map during robot navigation. Therefore, the present invention proposes a solution to divide the global map into several continuous sub - maps for the mobile robot to use for navigation, and gives a switching strategy for adjacent sub - maps to realize map switching during the robot navigation process. In addition, the present invention enables the mobile robot to navigate on the continuous sub - maps through the method of attitude information fusion, and realizes map switching during the navigation process, reduces the map size and complexity of the robot navigation task, and improves the navigation efficiency.

[0056] Embodiment 1

[0057] As Figure 9 shown, this embodiment provides a method for switching the navigation map of a mobile robot, including the following steps:

[0058] S1. Divide the global map into multiple continuous blocks as needed, and each block constitutes a sub - map.

[0059] Divide the global map M into several blocks according to a certain strategy, and separately cut each block to form a sub - map m i , the sub - map set {m 1 , m 2 , …, m i , …, m n} replaces the global map M as the environmental map used for the subsequent navigation of the mobile robot.

[0060] Specifically, the specific method of dividing the global map into sub - maps is as follows: The global map of the environment where the mobile robot is located is divided into several continuous rectangular blocks according to the needs of the user, and each block is a part of the global map. The divided blocks need to cover the entire area of the global map, that is, the original global map should be able to be restored from the combination of these blocks. There should be some overlapping areas between adjacent blocks, that is, a certain area in the previous block and a certain area in the next block physically correspond to the same area in the global map. Use image - cropping software to crop these blocks from the global map image, and the cropped images are regarded as sub - maps of the global map.

[0061] S2. Set connection points at the junctions of adjacent sub - maps. The mobile robot starts running the navigation program on the sub - map. When the mobile robot moves to the connection point of the sub - map, the map switching is triggered.

[0062] Specifically, for each sub - map m i Set connection points. The number of connection points is equal to the number of adjacent sub - maps of this sub - map, and the connection points are set in the overlapping and feasible areas of adjacent sub - maps.

[0063] In some embodiments, the specific method of setting sub - map connection points and the connection - point triggering method is as follows: The sub - map connection points are used to mark the connection relationship between sub - maps, that is, the connection point p 1 on sub - map m 11 and the connection point p 2 on sub - map m 21 are the same point on the global map. When the mobile robot moves to the connection point of a certain sub - map, the program can complete the map switching according to the pre - set corresponding relationship of the connection points. The connection points need to be set in the common area of adjacent sub - maps to ensure that a certain connection point in the previous sub - map can find a point with the same physical meaning in the next sub - map. The connection points need to be set in the feasible area of the sub - map to ensure that the mobile robot has a way to reach this point. There should be a feasible area between multiple connection points in a sub - map to ensure that the mobile robot can pass smoothly between these connection points. The connection - point triggering method is that when the mobile robot moves within a certain distance around the connection point, it is regarded as triggering the connection point. At this time, the navigation environment switches to the next sub - map and continues to complete the navigation task.

[0064] S3. Obtain the set of sub - maps that the mobile robot needs to pass through during the movement process, and decompose the navigation trajectory of the robot on the global map into several navigation trajectories between the connection points of the sub - maps.

[0065] Decompose the navigation path S of the mobile robot on the global map into a set of paths {S 0 ,S1 , S 2 , …, S n}, where S 0 , S 1 , S 2 , …, S n is a feasible path between connection points in each sub - map. Specifically, the specific method of decomposing the global navigation trajectory into trajectories on the sub - map is as follows: decompose the navigation path S in the global map into the path from the navigation starting point to the connection point p 11 , the paths between multiple sub - map connection points, and the set of paths from the connection point p n1 to the navigation target point {S 0 , S 1 , S 2 , …, S n}. When the mobile robot needs to pass through a certain sub - map m i , it only needs to move along the corresponding path S i .

[0066] S4. After triggering the map switch, the mobile robot performs a pose positioning to determine the position of the robot in the new map environment at the current moment.

[0067] Set the map - switching trigger mechanism. When the program detects that the distance between the current position of the robot and the connection point is less than or equal to d thre , it is considered that the robot has reached the connection point. At this time, the map switch is triggered, and the program switches the navigation map of the robot to the adjacent sub - map corresponding to the connection point. After the map switch, re - position the mobile robot, use the lidar sensor to establish a local map M local of the environment around the mobile robot, and match M local with the current sub - map m i pixel - by - pixel to calculate the current position P i of the mobile robot.

[0068] S5. Use the obtained pose as the initial pose for the navigation of the mobile robot to achieve continuous navigation of the robot on the sub - map until the robot reaches the navigation target point.

[0069] The mobile robot continues to complete the navigation task in the switched map until it reaches the navigation target point.

[0070] The following is a supplementary description in combination with Figure 1 and specific embodiments.

[0071] As Figure 1 shown, this embodiment provides a method for switching the navigation map of a mobile robot based on pose information fusion. The specific implementation manners include:

[0072] S101. LiDAR data acquisition; S102. Global map: These are two elements of the indoor navigation of a mobile robot using conventional methods, that is, positioning and navigation are performed using a LiDAR sensor under the global map. The initial conditions required for the mobile robot to navigate using the method of this embodiment are the same as those of the conventional method.

[0073] S201 - S20N. Divide the global map into a set of sub - maps: The global map is a complete map of the environment where the mobile robot performs navigation tasks, usually a large - scale map. For the navigation tasks of the mobile robot, only some areas in the global map are the areas where the robot frequently appears, while other areas are the areas where the robot rarely appears. According to this principle, the global map M can be artificially divided into multiple sub - maps m i , and when dividing, it is necessary to ensure that the set of sub - maps m i {m 1 , m 2 , …, m i , …, m n} contains all the information of the global map, and there is at least one overlapping area for at least one side (when the sub - map is rectangular) between adjacent sub - maps. Several sub - maps in {m 1 , m 2 , …, m i , …, m n} represent the environmental maps of the areas where the mobile robot frequently appears, and these sub - maps can provide most of the environmental information required for navigation when performing the robot navigation task.

[0074] S301 - S30N. Set sub - map connection points: The positional relationship between sub - maps needs to be represented by connection points. The connection points are located in the overlapping areas of adjacent sub - maps, and the connection points need to be located within the feasible area of the map to ensure that the mobile robot can reach. There is at least one pair of connection points in adjacent sub - maps. For example, there is a point p 1 in m 11 , and there are points p 2 and p 21 in m 22 , where p 11 and p 21 are the same point in the global map M and are located within the feasible area, then p 11 and p 21 form a pair of connection points. After setting the connection points p 1 for each sub - map in {m 2 , m i , …, m n}, continuity is formed between the sub - maps m ij . i

[0075] S401 - S40N, Decompose the navigation path of the mobile robot: When the mobile robot executes the navigation task, usually the user designates the starting point and the target point of the robot on the global map. Since the robot in this invention moves in the sub - map when executing the navigation task, the program needs to decompose the continuous navigation path S in the global map into the path from the navigation starting point to the connection point p 11 of the path, the paths between multiple sub - map connection points, and the path set {S n1 , S 0 , S 1 , S 2 , …, S n} from the connection point p 0 , S 1 , S 2 , …, S n} to the navigation target point. That is, the path set {S

[0076] t , S t = ξ t-1 + Δξ, where ξ t-1 is the pose of the mobile robot at time t - 1,

[0077] S601 - S60N, Determine the connection point of the mobile robot: It is necessary to design certain rules to determine whether the mobile robot reaches the connection point. Since the position of the connection point is known and fixed, during the navigation process of the mobile robot, the distance d between the current position of the robot and the position of the connection point can be detected at a certain frequency. If d is less than the preset threshold d thre , it is considered that the mobile robot reaches a connection point of the current sub - map, and the map switching is immediately triggered.

[0078] S701 - S702, Map switching: Suppose the mobile robot is currently located on the sub - map m i and reaches the connection point p i,j . At this time, the environmental map is switched to m i+1 , and the robot starts to continue the navigation task from the connection point p i+1 in m i,j paired with the connection point p i+1,1 . Each time the map switching is triggered, it means that the mobile robot has completed the path set {S 0 , S 1 , S 2 , …, Sn a path segment S in i 。

[0079] S801 - S802, Mobile Robot Relocalization: After the map is switched, the mobile robot continues to execute the navigation task starting from the current connection point. At this time, a robot relocalization is required. This method uses image feature matching to calculate the current position of the robot. The local map m of the environment around the robot during relocalization i0 and the sub - map m i are matched pixel - by - pixel. Let the robot relocalization result be P i (u, v), then calculate the current score according to the following formula:

[0080] Score (u,v) = ω b N b + ω o N o

[0081] where N b and N o are the number of overlapping pixel points in the obstacle - filled area and the obstacle - free area respectively, and ω b and ω o are the weights of the obstacle - filled area and the obstacle - free area set in advance. After traversing each pixel point of the sub - map m i , take the pixel coordinates (u, v) that make Score (u,v) the largest. This coordinate is the relocalization result.

[0082] The following combines the attached Figures 2 - 8 and specific experimental examples to elaborate on the above - mentioned method in detail.

[0083] This embodiment is specifically described as follows: This embodiment is an actual - scenario experiment. Select a wheeled robot equipped with a Slamtec A1 single - line lidar with a scanning frequency of 5.5 Hz as the experimental platform. Select a Raspberry Pi 4B configured with the Ubuntu 18.04 operating system as the main control board to run the program. The experimental scenario is: a certain laboratory in the school.

[0084] First, use the existing Hector SLAM algorithm to construct the global map of the laboratory, as Figure 2 shown.

[0085] Divide the global map into a set of sub - maps according to the aforementioned rules, as Figure 3 shown, noting that there should be overlapping areas between sub - maps.

[0086] Set connection points for the sub - maps. The connection points are set in the overlapping areas of adjacent sub - maps, as Figure 4 shown, where p11 and p 21 are a pair of connection points, that is, p 11 and p 21 have the same position in the global map, p 22 and p 31 are a pair of connection points, that is, p 22 and p 31 have the same position in the global map. It should be noted that the gray value of the connection point cannot be the same as the gray value of the obstacle area in the map, otherwise the program will mistake the connection point for the obstacle area during navigation. In this embodiment, the gray value of the connection point is selected as the gray value of the unknown area in the map.

[0087] Specify the navigation start point and navigation target point of the mobile robot on the global map and obtain the global path using the path planning algorithm, as Figure 5 shown.

[0088] The mobile robot starts to execute the navigation task on the sub-map m 1 and generates the path S 11 between the navigation start point and the connection point p 1 , as Figure 6 shown.

[0089] In this embodiment, d thre is taken as 0.1 meter, and the map resolution is 0.05 meter per pixel.

[0090] Determine that after the mobile robot reaches the connection point p 11 , perform map switching and robot repositioning. In this embodiment, ω b = 10, ω o = 1. At this time, the mobile robot continues to execute the navigation task from the connection point p 2 of the sub-map m 21 and generates the path S 21 between the connection point p 22 and the connection point p 2 , as Figure 7 shown.

[0091] At this time, the program completes the navigation environment map switching of the mobile robot from the sub-map m 1 to the sub-map m 2 , and decomposes the global path into the paths S 1 and S 2 between the connection points on the sub-map.

[0092] Determine that after the mobile robot reaches the connection point p 22 , perform map switching and robot repositioning. At this time, the mobile robot continues to execute the navigation task from the connection point p 3 of the sub-map m 31 and generates the connection point p 31The path S between the navigation target point 3 , such as Figure 8 shown

[0093] At this time, the program completes the navigation environment map switching of the mobile robot from the sub-map m 2 to the sub-map m 3 , decomposes the global path into the path S between the connection points on the sub-map and the navigation target point 3 . The mobile robot reaches the global navigation target point, and the navigation task is completed

[0094] In summary, a mobile robot navigation map switching method based on attitude information fusion proposed by the present invention can decompose the navigation task of the mobile robot on the global map into the navigation tasks between the connection points on the sub-map, and complete the map switching when the mobile robot moves between the continuous sub-maps by designing a connection point trigger mechanism, effectively reducing the complexity of the environmental map during robot navigation

[0095] Embodiment 2

[0096] This embodiment provides a mobile robot navigation map switching device, including

[0097] A map division module, configured to divide the global map into multiple continuous blocks as needed, and each block constitutes a sub-map

[0098] A connection point setting module, configured to set connection points at the junctions of adjacent sub-maps. When the mobile robot starts running the navigation program on the sub-map, the map switching is triggered when the mobile robot moves to the sub-map connection point

[0099] A trajectory division module, configured to obtain the set of sub-maps that the mobile robot needs to pass through during the movement process, and decompose the navigation trajectory of the robot on the global map into several navigation trajectories between the connection points on the sub-map

[0100] A map switching module, configured to trigger a pose positioning of the mobile robot after the map switching to determine the position of the robot in the new map environment at the current moment

[0101] A continuous navigation module, configured to use the obtained pose as the initial pose for the mobile robot navigation, and realize the continuous navigation of the robot on the sub-map until the robot reaches the navigation target point

[0102] Since this device is a mobile robot navigation map switching device according to an embodiment of the present invention, and the principle of solving problems by this device is similar to that of this method, the implementation of this device can refer to the implementation process of the above method embodiment, and the repeated parts will not be described again

[0103] Embodiment 3

[0104] An embodiment of the present invention further provides an electronic device, which includes a processor and a memory. At least one instruction, at least one program, a code set or an instruction set is stored in the memory, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement a mobile robot navigation map switching method as shown in Figure 9 Figure 3.

[0105] It can be understood that the memory may include a Random Access Memory (RAM), or may also include a Read-Only Memory. Optionally, the memory includes a non-transitory computer-readable storage medium. The memory is used to store instructions, programs, codes, code sets or instruction sets. The memory may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing an operating system, instructions for at least one function, instructions for implementing the above various method embodiments, etc.; the data storage area may store data created according to the use of the server, etc.

[0106] The processor may include one or more processing cores. The processor connects various parts within the entire server through various interfaces and lines, and by running or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory, it executes various functions of the server and processes data. Optionally, the processor may be implemented in at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor may integrate a Central Processing Unit (CPU) and a modem, etc. in one or several combinations. Among them, the CPU mainly processes the operating system and application programs, etc.; the modem is used to process wireless communication. It can be understood that the above modem may not be integrated into the processor and may be implemented separately through a single chip.

[0107] Since this electronic device is the electronic device corresponding to the mobile robot navigation map switching method of the embodiment of the present invention, and the principle of the electronic device to solve the problem is similar to that of the method, the implementation of this electronic device can refer to the implementation process of the above method embodiment, and the repeated parts will not be described again.

[0108] Embodiment 4

[0109] An embodiment of the present invention further provides a computer-readable storage medium, in which at least one instruction, at least one program, a code set or an instruction set is stored, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the Figure 9 mobile robot navigation map switching method as shown.

[0110] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and this program can be stored in a computer-readable storage medium. The storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically-erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc memories, magnetic disk memories, tape memories, or any other computer-readable medium capable of carrying or storing data.

[0111] Since this storage medium is the storage medium corresponding to the mobile robot navigation map switching method of the embodiment of the present invention, and the principle of solving problems by this storage medium is similar to that of this method, the implementation of this storage medium can refer to the implementation process of the above method embodiment, and the repeated parts will not be described again.

[0112] Embodiment 5

[0113] In some possible embodiments, aspects of the method of the embodiments of the present invention can also be implemented in the form of a program product, which includes program code. When the program product runs on a computer device, the program code is used to cause the computer device to execute the steps of a mobile robot navigation map switching method according to various exemplary embodiments described above in this specification. Among them, the executable computer program code or "code" for executing each embodiment can be written in high-level programming languages such as C, C++, C#, Smalltalk, Java, JavaScript, Visual Basic, structured query language (e.g., Transact-SQL), Perl, or in various other programming languages.

[0114] It should be understood that each part of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application specific integrated circuits with appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0115] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example 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. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples.

[0116] The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose is to enable those of ordinary skill in the art to understand the content of the present invention and implement it accordingly. It should not be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the essence of the content of the present invention should be covered within the protection scope of the present invention.

Claims

1. A mobile robot navigation map switching method, characterized in that: The following steps are involved: The global map is divided into multiple continuous blocks as needed, and each block constitutes a sub-map; A connection point is set at the junction of adjacent sub-maps, and the mobile robot starts running the navigation program on the sub-map. When the mobile robot moves to the sub-map connection point, the map switch is triggered; Obtain a set of sub-maps that the mobile robot needs to pass through during its movement, and decompose the robot's navigation trajectory on the global map into several segments of navigation trajectories between the connection points of the sub-maps; After triggering the map switch, the mobile robot performs a posture positioning to determine the current position of the robot in the new map environment; The obtained pose is used as the initial pose for mobile robot navigation to achieve continuous navigation of the robot on the sub-map until the robot reaches the navigation target point.

2. A mobile robot navigation map switching method according to claim 1, characterized in that: The global map is divided into a plurality of continuous blocks as required, including: The global map M of the environment where the mobile robot is located is divided into multiple continuous blocks according to the user's needs, and the divided blocks must cover the entire area of ​​the global map, that is, the original global map can be restored from the combination of these blocks; The block is cropped from the global map image using image cropping software, and the cropped image is regarded as a sub-map of the global map.

3. A mobile robot navigation map switching method according to claim 2, characterized in that: There is some overlap between adjacent blocks, that is, an area in the previous block and an area in the next block correspond to the same area in the global map in a physical sense.

4. A mobile robot navigation map switching method according to claim 1, characterized in that: The step of setting a connection point at the junction of adjacent sub-maps includes: The connection points of the submaps are used to mark the connection relationship between submaps, that is, the connection point p on the submap m1 11 and the connection point p on submap m2 21 It is the same point on the global map. When the mobile robot moves to a connection point on a sub-map, the program completes the map switching according to the pre-set connection point correspondence relationship; The connection points are set in the common area of ​​adjacent submaps to ensure that a connection point in the previous submap can find a point with the same physical meaning in the next submap; There are feasible regions between multiple connection points in the sub-map, and the connection points are set within the feasible regions in the sub-map to ensure that the mobile robot can pass smoothly between these connection points.

5. A mobile robot navigation map switching method according to claim 4, characterized in that: The connection point is triggered in the following way: when the mobile robot moves within a preset distance around the connection point, it is considered as a triggered connection point. At this time, the navigation environment switches to the next sub-map and continues to complete the navigation task.

6. A mobile robot navigation map switching method according to claim 1, characterized in that: The step of decomposing the navigation track of the robot on the global map into a plurality of navigation tracks between connection points of the sub-maps includes: The navigation path S in the global map is decomposed into a path from the navigation start point to the first connection point, a path between multiple sub-map connection points, and a path set {S0, S1, S2, ..., S n }; When the mobile robot passes through a sub-map m i When i Just exercise.

7. A mobile robot navigation map switching method according to claim 1, characterized in that: After triggering the map switch, the mobile robot performs a posture positioning to determine the current position of the robot in the new map environment, including: Build the robot at the connection point p ij The local map at m local , the local map and the sub-map m where the current robot is located i Perform image feature matching to obtain the relative position relationship between the two, that is, the position of the robot, and obtain the connection point p where the robot is located after the map switch. ij The position P i .

8. A mobile robot navigation map switching device, characterized in that: include: The map division module is used to divide the global map into multiple continuous blocks as needed, and each block constitutes a sub-map; the connection point setting module is used to set connection points at the junction of adjacent sub-maps. The mobile robot starts to run the navigation program on the sub-map, and the map switching is triggered when the mobile robot moves to the sub-map connection point; The trajectory division module is used to obtain the set of sub-maps that the mobile robot needs to pass through during its movement, and decompose the navigation trajectory of the robot on the global map into several segments of navigation trajectories between the connection points of the sub-maps; The map switching module is used to trigger the mobile robot to perform a posture positioning after the map switching to determine the current position of the robot in the new map environment; The continuous navigation module is used to use the obtained posture as the initial posture of the mobile robot navigation to realize the continuous navigation of the robot on the sub-map until the robot reaches the navigation target point.

9. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the method described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the method according to any one of claims 1 to 7.

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