Mapping method and device and computer readable storage medium

Abstract

The invention provides a mapping method and device and a computer readable storage medium. The method comprises the steps that at least one target position of a target area is acquired; controlling the robot to move in a local area corresponding to each target position based on a first type of trajectory and collect a plurality of images, wherein the first type of trajectory is a non-diameter straight trajectory; and generating a sub-map corresponding to each target position according to the plurality of images correspondingly collected by each target position. According to the embodiment of the invention, the robot mapping efficiency and quality are improved.

Description

Technical Field

[0001] This application relates to the technical field of positioning and mapping, and particularly to a mapping method, apparatus, and computer-readable storage medium. Background Art

[0002] Before starting automatic operations, a robot usually needs to map. For example, taking a lawn mowing robot as an example, when the lawn mowing robot is used for the first time, the user remotely controls the lawn mowing robot to walk along the boundary of the lawn and collect images until it returns to the starting point. The operation area is determined through the closed boundary trajectory, and a map of the operation area is generated based on the collected images. After that, the lawn mowing robot starts operations based on the map. During the first use of the lawn mowing robot, for the processing of the base station or the safety passage, it is necessary to rely on positioning devices such as RTK (Real-Time Kinematic) or GPS (Global Positioning System) to confirm the position of the base station or the safety passage. In this way, for a lawn mower in an area with weak RTK or GPS signals or without RTK or GPS positioning devices, it cannot complete the operations; the images of the current vision intelligent lawn mower are collected when the lawn mowing robot walks straight forward along the boundary of the lawn, and the image content is limited, and the mapping quality is not high. Summary of the Invention

[0003] This application provides a mapping method, apparatus, and computer-readable storage medium, aiming to improve the efficiency and quality of robot mapping.

[0004] To achieve the above object, this application provides a mapping method, including: Obtaining at least one target position of a target area; Controlling the robot to move and collect multiple images in a local area corresponding to each target position based on a first type of trajectory, where the first type of trajectory is a non-straight trajectory; Generating a sub-map corresponding to each target position according to the multiple images collected corresponding to each target position.

[0005] In the mapping method according to an embodiment of this application, the first type of trajectory is a bow-shaped trajectory, and the controlling the robot to move and collect multiple images in a local area corresponding to each target position based on the first type of trajectory includes: Controlling the robot to move in a local area corresponding to each target position based on the bow-shaped trajectory, and performing image collection when a preset condition is met.

[0006] In the mapping method according to an embodiment of this application, the bow-shaped trajectory includes multiple first sub-trajectories and multiple second sub-trajectories, and meeting the preset condition includes: The robot moves along the first sub-trajectory; and / or The robot moves along the second sub-trajectory; wherein, the direction in which the robot moves along the first sub-trajectory is opposite to the direction in which the robot moves along the second sub-trajectory.

[0007] In the mapping method according to an embodiment of the present application, the controlling the robot to move based on a bow-shaped trajectory within the local area corresponding to each target position includes: Determining a target direction corresponding to each target position; Controlling the robot to move along the bow-shaped trajectory in the local area corresponding to the target position based on the target direction; wherein, the bow-shaped trajectory of the target direction means that the trajectory direction corresponding to the first sub-trajectory or the second sub-trajectory of the bow-shaped trajectory is the target direction.

[0008] In the mapping method according to an embodiment of the present application, the target position includes at least one of a safe passage start position, a safe passage end position, and a charging pile position. The determining a target direction corresponding to each target position includes: If the target position is the safe passage start position or the safe passage end position, determining the target direction as a first direction, and the first direction is the connection direction between the safe passage start position and the safe passage end position; If the target position is the charging pile position, determining the target direction as a second direction, and the second direction is the moving direction of the robot leaving the charging pile.

[0009] In the mapping method according to an embodiment of the present application, the obtaining at least one target position of the target area includes: Receiving target position confirmation information input by the user; wherein, when the robot is first located at each target position, the user inputs the target position confirmation information; Determining the corresponding target position according to the target position confirmation information.

[0010] Before receiving the target position confirmation information input by the user in the mapping method according to an embodiment of the present application, it includes: Displaying a control interface of the robot for the user to input the target position confirmation information based on the control interface.

[0011] In the mapping method according to an embodiment of the present application, when there are multiple target positions, after obtaining at least one target position of the target area, it includes: Determining a mapping order corresponding to the multiple target positions; Control the robot to move to each of the target positions in sequence according to the mapping order; When the robot moves to each of the target positions, execute the step of controlling the robot to move within the local area corresponding to each of the target positions based on a first type of trajectory and collect multiple images.

[0012] In addition, to achieve the above object, the present application further provides a mapping device, the mapping device includes a processor and a memory, the memory stores a computer program executable by the processor, and when the computer program is executed by the processor, the steps of the mapping method as described above are implemented.

[0013] In addition, to achieve the above object, the present application further provides a computer-readable storage medium, the computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the mapping method as described above.

[0014] The mapping method, device and computer-readable storage medium provided by the embodiments of the present application obtain at least one target position of a target area, control a robot to move within the local area corresponding to each target position based on a first type of trajectory and collect multiple images, the first type of trajectory is a non-straight trajectory, and then generate a sub-map corresponding to each target position according to the multiple images collected corresponding to each target position. Compared with the method of the robot moving straight forward along the boundary of the target area for mapping, not only the quality of mapping is improved, but also the efficiency of mapping is effectively improved.

[0015] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 is a schematic flowchart of a mapping method provided by an embodiment of the present application; Figure 2 is a schematic diagram of a target area and target positions within the target area provided by an embodiment of the present application; Figure 3 is a schematic flowchart of obtaining at least one target position of a target area provided by an embodiment of the present application; Figure 4It is a schematic diagram of a control interface provided by an embodiment of the present application; Figure 5 It is a schematic diagram of another control interface provided by an embodiment of the present application; Figure 6 It is a schematic diagram of a mowing robot moving based on an arcuate trajectory provided by an embodiment of the present application; Figure 7 It is a schematic diagram of a mowing robot moving to collect images provided by an embodiment of the present application; Figure 8 It is a schematic flowchart of controlling the robot to move based on an arcuate trajectory within a local area corresponding to each target position provided by an embodiment of the present application; Figure 9 It is a schematic diagram of the target direction of an arcuate trajectory provided by an embodiment of the present application; Figures 10 - 12 It is a schematic diagram of a robot moving based on different trajectories to collect images; Figure 13 It is a schematic flowchart of map building of a mowing robot provided by an embodiment of the present application; Figure 14 It is a schematic block diagram of a map building device provided by an embodiment of the present application. Detailed implementation manners

[0018] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0019] The flowchart shown in the accompanying drawings is only an example, and does not necessarily include all the content and operations / steps, nor does it necessarily need to be executed in the described order. For example, some operations / steps can also be decomposed, combined or partially merged, so the actual execution order may be changed according to the actual situation.

[0020] It should be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification of the present application and the appended claims, unless the context clearly indicates otherwise, the singular forms of "a", "an" and "the" are intended to include the plural forms.

[0021] It should also be understood that the term "and / or" used in the specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the related listed items, and includes these combinations.

[0022] Embodiments of the present application provide a mapping method, apparatus, and computer-readable storage medium for improving the efficiency and quality of robot mapping.

[0023] Please refer to Figure 1 , Figure 1 which is a schematic flowchart of the mapping method provided by an embodiment of the present application. This method can be applied to a mapping apparatus or other devices, such as a robot or a control device of a robot (such as a remote control, a mobile phone, etc.). The application scenarios of this method are not limited in the present application.

[0024] As Figure 1 shown, the mapping method specifically includes steps S101 to S103.

[0025] S101. Obtain at least one target position in the target area.

[0026] Among them, the target area can be the working area of the robot. For example, taking a lawn mowing robot as an example, the target area is the lawn mowing working area. It should be noted that the target area can include one area, such as a lawn; the target area can also include multiple areas. For example, as Figure 2 shown, the target area includes Lawn 1 and Lawn 2.

[0027] In the present application, the robot includes but is not limited to a lawn mowing robot, an autonomous driving vehicle, an indoor mobile robot, a patrol robot, etc. It can be understood that for different types of robots, the corresponding target areas are different.

[0028] For the target area, the target area includes one or more target positions. The target position refers to a position related to the movement of the robot, which can be a point of interest (POI) or an information point. A point of interest refers to a location on the map with specific geographical coordinates and representing a place that people may be interested in, such as a restaurant, a school, a gas station, a hospital, a tourist attraction, etc. In the present application, the target position includes but is not limited to the starting position of a safety passage, the ending position of a safety passage, a charging pile position, etc. It can be understood that for the case where the target area includes at least two areas, the robot moves from one area to another through a safety passage. The starting position of the safety passage of the safety passage is located in one area, and the ending position of the safety passage of the safety passage is located in another area. For example, as Figure 2 shown, among them, the first target position is the charging pile position, the second target position is the starting position of the safety passage, and the third target position is the ending position of the safety passage.

[0029] It should be noted that at least one target position in the target area can be determined during robot mapping, or at least one target position in the target area can also be determined and saved in advance. During robot mapping, the saved information can be directly queried to obtain at least one target position in the target area. In this application, the method for obtaining at least one target position in the target area is not limited.

[0030] In some embodiments, as Figure 3 shown, step S101 may include sub-step S1011 and sub-step S1012.

[0031] S1011. Receive the target position confirmation information input by the user; wherein, when the robot is first located at each target position, the user inputs the target position confirmation information; S1012. Determine the corresponding target position according to the target position confirmation information.

[0032] Before the robot's first operation, the user uses a control device such as a remote control to manipulate the robot to move towards the target position. When the robot first reaches the target position, the user can perform a corresponding operation to confirm reaching the target position and input the target position confirmation information. For example, the user inputs a voice confirmation information for reaching the target position; or, the user clicks the corresponding control on the control device to input the target position confirmation information. The method for the user to input the target position confirmation information is not limited in this application.

[0033] In some embodiments, before receiving the target position confirmation information input by the user, it includes: displaying the control interface of the robot for the user to input the target position confirmation information based on the control interface.

[0034] Exemplarily, a relevant application (APP) is installed on the control device (such as a mobile phone) of the robot. The user opens the APP and the control interface is displayed on the display screen of the control device. Among them, a target position arrival confirmation control is displayed on the control interface. The user manipulates the robot to move towards the target position. When the robot reaches the target position, the user can click the target position arrival confirmation control to input the corresponding target position confirmation information.

[0035] For example, as Figure 2 shown, the user manipulates the lawn mowing robot to move from the first target position to the second target position. The dotted arrow trajectory therein is the movement trajectory of the user manipulating the lawn mowing robot. When the lawn mowing robot reaches the second target position, as Figure 4As shown, the user clicks on the "Arrival at the Starting Point of the Safety Passage" control on the control interface, inputs the corresponding confirmation information for the starting point position of the safety passage, and determines the starting point position of the safety passage based on the confirmation information for the starting point position of the safety passage. The user controls the lawn mowing robot to move from the second target position to the third target position. When the lawn mowing robot reaches the third target position, as Figure 5 shown, the user clicks on the "Arrival at the End Point of the Safety Passage" control on the control interface, inputs the corresponding confirmation information for the end point position of the safety passage, and determines the end point position of the safety passage based on the confirmation information for the end point position of the safety passage.

[0036] S102. Control the robot to move within the local area corresponding to each of the target positions based on the first type of trajectory and collect multiple images, where the first type of trajectory is a non-straight trajectory.

[0037] After determining the target positions, the robot automatically operates based on the determined target positions. For each target position, the robot moves within the local area corresponding to each target position based on the first type of trajectory, where the first type of trajectory is a non-straight trajectory. Exemplarily, the first type of trajectory is an arcuate trajectory, and the arcuate trajectory includes multiple first sub-trajectories and multiple second sub-trajectories. The direction in which the robot moves along the first sub-trajectory is opposite to the direction in which the robot moves along the second sub-trajectory. For example, as Figure 6 shown, the lawn mowing robot moves within the local areas corresponding to the first target position, the second target position, and the third target position respectively based on the arcuate trajectory. Among them, trajectory a is the first sub-trajectory of the arcuate trajectory, and trajectory b is the second sub-trajectory of the arcuate trajectory. The direction in which the lawn mowing robot moves along trajectory a is opposite to the direction in which the robot moves along trajectory b.

[0038] During the process of the robot moving within the local area corresponding to each target position based on the bow-shaped trajectory, multiple images corresponding to the target position are automatically collected. Exemplarily, during the movement of the robot, image collection is automatically performed according to the corresponding image collection frequency. Exemplarily, taking the target position as the target point and selecting the direction facing the target position as the forward direction, the robot starts entering the mapping mode at a position L away from the target position, continuously collects images facing the target position, triggers key frames with a mileage increment Δs = 0.05 m or an angular increment Δθ = 3° to obtain corresponding images. When controlling the robot to move along the bow-shaped trajectory, multiple frames of images on multiple parallel paths facing the target position are collected. The first sub-trajectory of the bow-shaped trajectory facing the target position is the position at the leftmost or rightmost side of the image when the target position is at a position point with a vertical distance L from the target position. The last sub-trajectory of the bow-shaped trajectory facing the target position is the position at the rightmost or leftmost side of the image when the target position is at a position point with a distance L from the target position. In other words, during the process of the robot moving based on the bow-shaped trajectory, among the multiple images corresponding to the target position collected by it, all include relevant reference objects of the target position point. It should be noted that the image collection frequency can be flexibly set according to the actual situation and is not specifically limited in this application.

[0039] For example, as Figure 7 shown, during the process of the lawn mowing robot moving within the local area corresponding to the first target position based on the bow-shaped trajectory, multiple images corresponding to the first target position are automatically collected; during the process of the lawn mowing robot moving within the local area corresponding to the second target position based on the bow-shaped trajectory, multiple images corresponding to the second target position are automatically collected; during the process of the lawn mowing robot moving within the local area corresponding to the third target position based on the bow-shaped trajectory, multiple images corresponding to the third target position are automatically collected.

[0040] The user only needs to control the robot to move to each target position for the first time. After determining the target position, the robot automatically runs based on the determined target position. It can automatically identify the target position. Compared with the method of the user remotely controlling the robot to walk along the boundary of the target area once, not only is the operation simple, reducing the time of manual control by the user and the short walking distance of the user, but also there will be no problem that the boundary trajectory cannot be closed after walking once and needs to be walked again. It can avoid the matter that the user needs to manually operate the robot to complete the mapping of the target area.

[0041] Exemplarily, when the robot is a lawn mower, the user can identify the position of the charging pile as the target position, perform local mapping for the position of the charging pile, complete the establishment of a local sub-map with the charging pile as the base point. When the local sub-map is completed, the lawn mower can automatically start mowing operations according to its vision sensor. When the mowing task is completed or the power is insufficient, it can identify the position of the charging pile through the local sub-map and complete the task of returning the lawn mower to the charging pile.

[0042] In some embodiments, controlling the robot to move and collect multiple images based on a first type of trajectory in the local area corresponding to each target position includes: controlling the robot to move based on a bow-shaped trajectory in the local area corresponding to each target position, and performing image collection when a preset condition is met.

[0043] Exemplarily, meeting the preset condition includes: the robot moving along the first sub-trajectory; and / or, the robot moving along the second sub-trajectory; wherein, the direction in which the robot moves along the first sub-trajectory is opposite to the direction in which the robot moves along the second sub-trajectory.

[0044] In one implementation, image collection is only performed during the process of the robot moving along the first sub-trajectory. For example, as Figure 6 shown, during the process of the lawn mowing robot moving along trajectory a, multiple images corresponding to the first target position are automatically collected, while during the process of the lawn mowing robot moving along trajectory b, image collection is stopped. That is, the lawn mowing robot only collects images facing the point of interest 1, realizing saving the storage space of images on the basis of ensuring the mapping quality.

[0045] In other implementations, image collection can also be performed only during the process of the robot moving along the second sub-trajectory, or image collection is performed during the processes of the robot moving along both the first sub-trajectory and the second sub-trajectory. There is no specific limitation in this application.

[0046] In some embodiments, as Figure 8 shown, step S102 may include sub-step S1021 and sub-step S1022.

[0047] S1021. Determine the target direction corresponding to each target position; S1022. Control the robot to move based on the bow-shaped trajectory in the target direction in the local area corresponding to the target position; wherein, the bow-shaped trajectory in the target direction means that the trajectory direction corresponding to the first sub-trajectory or the second sub-trajectory of the bow-shaped trajectory is the target direction.

[0048] If the trajectory directions corresponding to the first sub-trajectory or the second sub-trajectory of the bow-shaped trajectory are different, the images collected by the robot during the movement based on the bow-shaped trajectory are also different. For example, as Figure 6 shown, the trajectory direction of trajectory a is towards the first target position (the vertical direction in the figure). During the movement of the lawn mowing robot along trajectory a, an image facing the first target position is collected; if the trajectory direction of trajectory a becomes the horizontal direction, the image collected during the movement of the lawn mowing robot along trajectory a is not an image facing the first target position. Therefore, in order to obtain a map corresponding to the target position with high quality, for each target position, a suitable target direction is determined. Then, the robot moves based on the bow-shaped trajectory in the local area corresponding to the target position in the determined target direction, so that an image facing the target position can be collected during the movement, thereby better performing mapping.

[0049] In some embodiments, determining the target direction corresponding to each target position includes: if the target position is the starting position or the ending position of the safety passage, determining the target direction as the first direction, and the first direction is the connection direction between the starting position and the ending position of the safety passage; if the target position is the charging pile position, determining the target direction as the second direction, and the second direction is the moving direction of the robot leaving the charging pile.

[0050] For example, as Figure 9 shown, for the first target position, the moving direction of the lawn mowing robot when it first leaves the charging pile, that is, the direction of dashed line A, is used as the target direction of the bow-shaped trajectory for the movement of the lawn mowing robot corresponding to the first target position. For the second target position and the third target position, the connection direction between the second target position and the third target position, that is, the direction of dashed line B, is used as the target direction of the bow-shaped trajectory for the movement of the lawn mowing robot corresponding to the second target position and the third target position. In this way, during the movement of the lawn mowing robot based on the bow-shaped trajectory, the images collected are images facing each target position, so that better mapping can be performed.

[0051] S103. Generate a sub-map corresponding to each target position according to the multiple images collected corresponding to each target position.

[0052] Exemplarily, based on multiple images collected during the process of the robot moving within the local area corresponding to each target position along an arcuate trajectory, mapping is performed based on the visual-inertial odometry (VIO) algorithm to generate a sub-map corresponding to each target position. Of course, other algorithms can also be used, such as ORB-SLAM2 (Oriented FAST and Rotated BRIEF-Simultaneous Localization and Mapping), MSCKF (Multi-State Constraint Kalman Filter), etc., which are not specifically limited in this application.

[0053] For example, a sub-map of the charging pile position is generated. Based on the successful localization using this sub-map, the robot can return to the charging pile more accurately. Moreover, based on this sub-map, it can also identify whether the charging pile has been moved.

[0054] Another example is to generate a sub-map of the starting position of the safety passage and a sub-map of the ending position of the safety passage. Based on the sub-maps of the starting position of the safety passage and the ending position of the safety passage, the robot can accurately find the starting position and the ending position of the safety passage and safely pass through the safety passage between the starting position and the ending position of the safety passage.

[0055] Regarding the method of mapping when the robot moves along different trajectories, as Figures 10 - 12 shown, in Figure 10 , images are collected during the process of the robot rotating and moving. For the 3D point ① in Figure 10 , only image 1 and image 2 contain the content of 3D point ①. For the 3D point ② in Figure 10 , only image 2 contains the content of 3D point ②. For the 3D point ③ in Figure 10 , only image 2 and image 3 contain the content of 3D point ③, and the quality of visual mapping is not good. In Figure 11 , images are collected during the process of the robot moving straight forward. For the 3D point ① in Figure 11 , only image 1 and image 2 contain the content of 3D point ①. For the 3D point ② in Figure 11 , image 1, image 2, and image 3 contain the content of 3D point ②. For the 3D point ③ in Figure 11 , only image 2 and image 3 contain the content of 3D point ③, and the quality of visual mapping is average. In Figure 12 , images are collected during the process of the robot moving in a crab-like manner. For the 3D point ① in Figure 12 , image 1, image 2, and image 3 contain the content of 3D point ①. For the 3D point ② in Figure 12 , image 1, image 2, and image 3 contain the content of 3D point ②. ForFigure 12 The 3D point ③ in [reference] has its content included in Images 1, 2, and 3, and the quality of visual mapping is the best among the three methods. When the robot moves along a bow-shaped trajectory and acquires images, it can achieve Figure 12 the effect shown in [reference]. Therefore, the quality of mapping when the robot moves along a bow-shaped trajectory is higher than that when it moves straight forward.

[0056] In some embodiments, after the step S101, it includes: determining the mapping order corresponding to multiple target positions; controlling the robot to move to each target position in sequence according to the mapping order; when the robot moves to each target position, executing the step S102.

[0057] Exemplarily, according to the return path autonomously planned by the robot, determine the mapping order corresponding to multiple target positions. For example, as Figure 13 shown, the user controls the lawn mowing robot to move from the charging pile position to the starting position of the safety passage. When the lawn mowing robot reaches the starting position of the safety passage, the user clicks the "Arrive at the Starting Point of the Safety Passage" control, and then continues to control the lawn mowing robot to move to the ending position of the safety passage. When the lawn mowing robot reaches the ending position of the safety passage, the user clicks the "Arrive at the Ending Point of the Safety Passage" control. After that, the lawn mowing robot runs automatically. The return path of the lawn mowing robot is the reverse path of the user controlling the lawn mowing robot to move. Determine the mapping order as the ending position of the safety passage → the starting position of the safety passage → the charging pile position. Based on this mapping order, the lawn mowing robot first moves along a bow-shaped trajectory and acquires images in the local area corresponding to the ending position of the safety passage for mapping. After generating the map of the ending position of the safety passage, the lawn mowing robot moves to the starting position of the safety passage, moves along a bow-shaped trajectory and acquires images in the local area corresponding to the starting position of the safety passage for mapping. After generating the map of the starting position of the safety passage, the lawn mowing robot moves to the charging pile position, moves along a bow-shaped trajectory and acquires images in the local area corresponding to the charging pile position for mapping. Generating maps of each point of interest in sequence based on the return path, the moving path of the lawn mowing robot is short.

[0058] It should be noted that the maps corresponding to each target position can also be generated in other sequences, and no specific limitation is made in this application.

[0059] In the above embodiments, by obtaining at least one target position in the target area, the robot is controlled to move and collect multiple images in the local area corresponding to each target position based on a first type of trajectory, where the first type of trajectory is a non-straight trajectory. Then, according to the multiple images collected corresponding to each target position, a sub-map corresponding to each target position is generated. Compared with the method of the robot moving straight along the boundary of the target area for mapping, not only the quality of mapping is improved, but also the efficiency of mapping is effectively improved.

[0060] Please refer to Figure 14 , Figure 14 which is a schematic block diagram of a mapping device provided by an embodiment of the present application. The mapping device can be configured in a robot or a control device of the robot and is used to execute the foregoing mapping method.

[0061] As Figure 14 shown, the mapping device 200 may include a processor 210 and a memory 220. Among them, the processor 210 is connected to the memory 220 through a bus, and the bus is, for example, an I2C (Inter-integrated Circuit) bus.

[0062] Specifically, the processor 210 may be a micro-control unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0063] Specifically, the memory 220 may be a Flash chip, a read-only memory (ROM), a disk, an optical disc, a USB flash drive, or a mobile hard disk, etc. Various computer programs for the processor 210 to execute are stored in the memory 220.

[0064] Among them, the processor 210 is used to run the computer program stored in the memory and, when executing the computer program, implement: Obtain at least one target position in the target area; Control the robot to move and collect multiple images in the local area corresponding to each target position based on a first type of trajectory, where the first type of trajectory is a non-straight trajectory; Generate a sub-map corresponding to each target position according to the multiple images collected corresponding to each target position.

[0065] In some embodiments, the first type of trajectory is a bow-shaped trajectory. When the processor 210 implements controlling the robot to move and collect multiple images in the local area corresponding to each target position based on the first type of trajectory, it is used to implement: Control the robot to move based on an arcuate trajectory within the local area corresponding to each of the target positions, and perform image acquisition when a preset condition is met.

[0066] In some embodiments, the arcuate trajectory includes a plurality of first sub-trajectories and a plurality of second sub-trajectories, and meeting the preset condition includes: The robot moves along the first sub-trajectory; and / or The robot moves along the second sub-trajectory; Wherein, the direction in which the robot moves along the first sub-trajectory is opposite to the direction in which the robot moves along the second sub-trajectory.

[0067] In some embodiments, when the processor 210 implements controlling the robot to move based on an arcuate trajectory within the local area corresponding to each of the target positions, it is used to implement: Determine the target direction corresponding to each of the target positions; Control the robot to move based on the arcuate trajectory of the target direction within the local area corresponding to the target position; wherein, the arcuate trajectory of the target direction means that the trajectory direction corresponding to the first sub-trajectory or the second sub-trajectory of the arcuate trajectory is the target direction.

[0068] In some embodiments, the target position includes at least one of a safety passage start position, a safety passage end position, and a charging pile position. When the processor 210 implements determining the target direction corresponding to each of the target positions, it is used to implement: If the target position is the safety passage start position or the safety passage end position, determine the target direction as a first direction, and the first direction is the connection direction between the safety passage start position and the safety passage end position; If the target position is the charging pile position, determine the target direction as a second direction, and the second direction is the moving direction of the robot away from the charging pile.

[0069] In some embodiments, when the processor 210 implements obtaining at least one target position of the target area, it is used to implement: Receive the target position confirmation information input by the user; wherein, when the robot is first located at each of the target positions, the user inputs the target position confirmation information; Determine the corresponding target position according to the target position confirmation information.

[0070] In some embodiments, before the processor 210 implements receiving the target position confirmation information input by the user, it is used to implement: Display the control interface of the robot for the user to input the target position confirmation information based on the control interface.

[0071] In some embodiments, the target positions include multiple ones. After the processor 210 obtains at least one target position in the target area, it is configured to: Determine the mapping order corresponding to the multiple target positions; Control the robot to move to each of the target positions in sequence according to the mapping order; When the robot moves to each target position, execute the step of controlling the robot to move within the local area corresponding to each target position based on the first type of trajectory and collect multiple images.

[0072] The mapping device 200 can execute the mapping method provided by the embodiments of the present application. Therefore, the beneficial effects achievable by the mapping method provided by the embodiments of the present application can be realized. For details, refer to the previous embodiments and will not be elaborated herein.

[0073] The embodiments of the present application further provide a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of the mapping method as described above are implemented.

[0074] Among them, the computer-readable storage medium may be an internal storage unit of the mapping device, robot, or computer device described in the foregoing embodiments, such as the hard disk or memory of the mapping device, robot, or computer device. The computer-readable storage medium may also be an external storage device of the mapping device, robot, or computer device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital Card (SD Card), a Flash Card, etc., equipped on the mapping device, robot, or computer device.

[0075] Since the computer program stored in this storage medium can execute any mapping method provided by the embodiments of the present application, the beneficial effects achievable by any mapping method provided by the embodiments of the present application can be realized. For details, refer to the previous embodiments and will not be elaborated herein.

[0076] It should be noted that in this text, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or system including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or system including such element.

[0077] As described above, the above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should be covered within the protection scope of the present application.

Claims

1. A mapping method, characterized in that, Including: Obtaining at least one target position in a target area; Controlling the robot to move based on a first type of trajectory within a local area corresponding to each of the target positions and collect multiple images, where the first type of trajectory is a non-straight trajectory; Generating a sub-map corresponding to each of the target positions according to the multiple images collected corresponding to each of the target positions.

2. The mapping method according to claim 1, wherein The first type of trajectory is a bow-shaped trajectory. The controlling the robot to move based on a first type of trajectory within a local area corresponding to each of the target positions and collect multiple images includes: Controlling the robot to move based on a bow-shaped trajectory within a local area corresponding to each of the target positions and performing image collection when a preset condition is met.

3. The mapping method according to claim 2, wherein The bow-shaped trajectory includes multiple first sub-trajectories and multiple second sub-trajectories. Meeting the preset condition includes: The robot moves along the first sub-trajectory; and / or The robot moves along the second sub-trajectory; Wherein, the direction in which the robot moves along the first sub-trajectory is opposite to the direction in which the robot moves along the second sub-trajectory.

4. The mapping method according to claim 2, characterized in that The controlling the robot to move based on a bow-shaped trajectory within a local area corresponding to each of the target positions includes: Determining a target direction corresponding to each of the target positions; Controlling the robot to move based on the bow-shaped trajectory of the target direction within the local area corresponding to the target position; wherein, the bow-shaped trajectory of the target direction means that the trajectory direction corresponding to the first sub-trajectory or the second sub-trajectory of the bow-shaped trajectory is the target direction.

5. The mapping method according to claim 4, wherein The target position includes at least one of a safety passage start position, a safety passage end position, and a charging pile position. The determining a target direction corresponding to each of the target positions includes: If the target position is the safety passage start position or the safety passage end position, determining the target direction as a first direction, where the first direction is the connection direction between the safety passage start position and the safety passage end position; If the target position is the charging pile position, determining the target direction as a second direction, where the second direction is the moving direction of the robot leaving the charging pile.

6. The mapping method according to claim 1, wherein The obtaining at least one target position in a target area includes: Receiving target position confirmation information input by a user; wherein, when the robot is first located at each of the target positions, the user inputs the target position confirmation information; Determining the corresponding target position according to the target position confirmation information.

7. The mapping method according to claim 6, characterized in that Before the receiving the target position confirmation information input by the user, it includes: Displaying a control interface of the robot for the user to input the target position confirmation information based on the control interface.

8. The mapping method according to claim 1, wherein The target positions include multiple. After the obtaining at least one target position in a target area, it includes: Determining a mapping order corresponding to the multiple target positions; Controlling the robot to move to each of the target positions in sequence according to the mapping order; When the robot moves to each of the target positions, performing the step of controlling the robot to move based on a first type of trajectory within a local area corresponding to each of the target positions and collect multiple images.

9. A mapping device, characterized in that, The mapping device includes a processor and a memory. The memory stores a computer program executable by the processor. When the computer program is executed by the processor, the steps of the mapping method according to any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs. The one or more programs are executable by one or more processors to implement the steps of the mapping method according to any one of claims 1 to 8.

Images