Mapping method and device, and computer readable storage medium

Abstract

The application provides a mapping method and device and a computer readable storage medium. The method comprises: acquiring at least one target position of a target area; controlling a robot to move in a local area corresponding to each target position based on a first type of trajectory and collect multiple images, the first type of trajectory being a non-radial trajectory; and generating a sub-map corresponding to each target position according to the multiple images collected at each target position. The application improves the efficiency and quality of robot mapping.

Description

Technical Field

[0001] This application relates to the field of positioning and mapping technology, and in particular to a mapping method, apparatus and computer-readable storage medium. Background Technology

[0002] Before a robot can begin autonomous operation, it typically needs to create a map. For example, with a lawnmower robot, when it's used for the first time, the user remotely controls it to walk along the edge of the lawn and collect images until it returns to the starting point. The closed boundary trajectory determines the work area, and a map of the work area is generated based on the collected images. The lawnmower then begins its operation based on this map. During the initial use of a lawnmower robot, the processing of base stations or safety passages requires the use of positioning devices such as RTK (Real-Time Kinematic) or GPS (Global Positioning System) to confirm the location of the base station or safety passage. As a result, in areas with weak RTK or GPS signals, or for lawnmowers without RTK or GPS positioning devices, the robot cannot complete the operation. Currently, images from visual intelligent lawnmowers are collected as the robot walks straight along the edge of the lawn, resulting in limited image content and low mapping quality. Summary of the Invention

[0003] This application provides a mapping method, apparatus, and computer-readable storage medium, aimed at improving the efficiency and quality of robot mapping.

[0004] To achieve the above objectives, this application provides a mapping method, comprising:

[0005] Obtain at least one target location within the target area;

[0006] The robot is controlled to move based on a first type of trajectory within a local area corresponding to each target location and acquire multiple images. The first type of trajectory is a non-linear trajectory.

[0007] A sub-map corresponding to each target location is generated based on the multiple images collected for each target location.

[0008] In a mapping method according to an embodiment of this application, the first type of trajectory is an arc-shaped trajectory, and the controlled robot moves based on the first type of trajectory and acquires multiple images within a local area corresponding to each target position, including:

[0009] The robot is controlled to move based on an arc-shaped trajectory within a local area corresponding to each target position, and image acquisition is performed when preset conditions are met.

[0010] In the mapping method of one embodiment of this application, the arcuate trajectory includes multiple first sub-trajectories and multiple second sub-trajectories, and the preset conditions include:

[0011] The robot moves along the first sub-track; and / or

[0012] The robot moves along the second sub-track;

[0013] Wherein, the direction in which the robot moves along the first sub-track is opposite to the direction in which the robot moves along the second sub-track.

[0014] In a mapping method according to an embodiment of this application, controlling the robot to move based on an arc-shaped trajectory within a local area corresponding to each target position includes:

[0015] Determine the target direction corresponding to each of the target locations;

[0016] The robot is controlled to move along an arc-shaped trajectory based on the target direction within a local area corresponding to the target position; wherein the arc-shaped trajectory in the target direction indicates that the trajectory direction corresponding to the first sub-trajectory or the second sub-trajectory of the arc-shaped trajectory is the target direction.

[0017] In the mapping method of one embodiment of this application, the target location includes at least one of the following: the starting point location of the safety passage, the ending point location of the safety passage, and the location of the charging pile. Determining the target direction corresponding to each target location includes:

[0018] If the target location is the starting point or the ending point of the safety passage, then the target direction is determined to be the first direction, which is the direction of the line connecting the starting point and the ending point of the safety passage.

[0019] If the target location is the location of the charging pile, then the target direction is determined to be the second direction, which is the direction in which the robot moves away from the charging pile.

[0020] In a mapping method according to an embodiment of this application, obtaining at least one target location of the target region includes:

[0021] Receive target location confirmation information input by the user; wherein, when the robot first arrives at each of the target locations, the user inputs the target location confirmation information;

[0022] Based on the target location confirmation information, the corresponding target location is determined.

[0023] In a mapping method according to an embodiment of this application, before receiving target location confirmation information input by the user, the following steps are included:

[0024] The robot's control interface is displayed so that the user can input the target location confirmation information based on the control interface.

[0025] In a mapping method according to an embodiment of this application, the target locations include multiple locations, and after obtaining at least one target location of the target region, the method includes:

[0026] Determine the mapping order corresponding to multiple target locations;

[0027] The robot is controlled to move sequentially to each of the target positions according to the mapping sequence;

[0028] When the robot moves to each of the target locations, the step of controlling the robot to move based on a first type of trajectory within the local area corresponding to each target location and acquiring multiple images is performed.

[0029] In addition, to achieve the above objectives, this application also provides a mapping apparatus, which includes a processor and a memory. The memory stores a computer program that can be executed by the processor. When the computer program is executed by the processor, it implements the steps of the mapping method described above.

[0030] In addition, to achieve the above objectives, this application also provides a computer-readable storage medium storing one or more programs that can be executed by one or more processors to implement the steps of the mapping method described above.

[0031] The mapping method, apparatus, and computer-readable storage medium provided in this application embodiment obtain at least one target location in a target area, control a robot to move based on a first type of trajectory and collect multiple images in a local area corresponding to each target location. The first type of trajectory is a non-linear trajectory. Then, based on the multiple images collected for each target location, a sub-map corresponding to each target location is generated. Compared with the method of mapping by the robot moving straight forward along the boundary of the target area, this not only improves the quality of mapping but also effectively improves the efficiency of mapping.

[0032] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0033] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic flowchart of a mapping method provided in an embodiment of this application;

[0035] Figure 2 This is a schematic diagram of a target area and the target location within the target area provided in an embodiment of this application;

[0036] Figure 3 This is a schematic diagram of a process for obtaining at least one target location in a target area according to an embodiment of this application;

[0037] Figure 4 This is a schematic diagram of a control interface provided in an embodiment of this application;

[0038] Figure 5 This is a schematic diagram of another control interface provided in an embodiment of this application;

[0039] Figure 6 This is a schematic diagram of a lawnmower robot moving based on an arc-shaped trajectory, provided in an embodiment of this application.

[0040] Figure 7 This is a schematic diagram of a lawnmower robot moving and acquiring images, provided in an embodiment of this application;

[0041] Figure 8 This is a schematic diagram of a process for controlling the robot to move based on an arc-shaped trajectory within a local area corresponding to each target position, provided by an embodiment of this application.

[0042] Figure 9 This is a schematic diagram of the target direction of an arc-shaped trajectory provided in an embodiment of this application;

[0043] Figures 10-12 This is a schematic diagram of a robot collecting images based on different trajectories.

[0044] Figure 13 This is a schematic diagram of a mapping process for a lawnmower robot provided in an embodiment of this application;

[0045] Figure 14 This is a schematic block diagram of a mapping device provided in an embodiment of this application. Detailed Implementation

[0046] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the described order. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0048] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0049] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0050] Embodiments of this application provide a mapping method, apparatus, and computer-readable storage medium for improving the efficiency and quality of robot mapping.

[0051] Please see Figure 1 , Figure 1 This is a schematic flowchart of a mapping method provided in one embodiment of this application. This method can be applied to mapping devices or other devices, such as robots or robot control devices (e.g., remote controls, mobile phones, etc.). This application does not limit the application scenarios of this method.

[0052] like Figure 1 As shown, the mapping method specifically includes steps S101 to S103.

[0053] S101. Obtain at least one target location within the target area.

[0054] The target area can be the robot's working area. For example, in the case of a lawnmower robot, the target area is the lawnmower's working area. It should be noted that the target area can include a single area, such as a lawn; or it can include multiple areas, such as... Figure 2 As shown, the target area includes lawn 1 and lawn 2.

[0055] In this application, robots include, but are not limited to, lawnmower robots, autonomous vehicles, indoor mobile robots, and patrol robots. It is understood that different types of robots target different areas.

[0056] For the target area, it includes one or more target locations, which are locations related to the robot's movement and can be points of interest (POIs) or information points. Points of interest refer to locations on a map with specific geographic coordinates that represent places people might be interested in, such as restaurants, schools, gas stations, hospitals, tourist attractions, etc. In this application, target locations include, but are not limited to, the starting point of a safety passage, the ending point of a safety passage, and the location of a charging station. It is understood that, for target areas comprising at least two regions, the robot moves from one region to another via a safety passage, with the starting point of the safety passage located in one region and the ending point of the safety passage located in the other region. For example, as... Figure 2 As shown, the first target location is the location of the charging pile, the second target location is the starting point of the safety passage, and the third target location is the ending point of the safety passage.

[0057] It should be noted that at least one target location in the target area can be determined during robot mapping, or at least one target location in the target area can be determined and saved in advance, and the at least one target location in the target area can be obtained by directly querying the saved information during robot mapping. This application does not limit the method for obtaining at least one target location in the target area.

[0058] In some embodiments, such as Figure 3 As shown, step S101 may include sub-step S1011 and sub-step S1012.

[0059] S1011. Receive target location confirmation information input by the user; wherein, when the robot is first located at each of the target locations, the user inputs the target location confirmation information;

[0060] S1012. Determine the corresponding target location based on the target location confirmation information.

[0061] Before the robot's first operation, the user controls the robot to move to the target location using a remote control or other control device. When the robot reaches the target location for the first time, the user can perform a corresponding confirmation operation by inputting target location confirmation information. For example, the user can input a voice confirmation message indicating arrival at the target location; or the user can click the corresponding control on the control device to input the target location confirmation information. This application does not limit the method by which the user inputs the target location confirmation information.

[0062] In some embodiments, before receiving the target location confirmation information input by the user, the method includes: displaying the robot's control interface so that the user can input the target location confirmation information based on the control interface.

[0063] For example, a relevant application (APP) is installed on the robot's control device (such as a mobile phone). When the user opens the APP, the control interface is displayed on the screen of the control device. The control interface displays a target location arrival confirmation control. The user controls the robot to move to the target location. When the robot reaches the target location, the user can click the target location arrival confirmation control and enter the corresponding target location confirmation information.

[0064] For example, such as Figure 2 As shown, the user controls the lawnmower to move from the first target position to the second target position. The dashed arrow represents the movement trajectory of the lawnmower controlled by the user. When the lawnmower reaches the second target position, as shown... Figure 4 As shown, the user clicks the "Reach Safety Passage Start Point" control on the control interface, enters the corresponding safety passage start point location confirmation information, and determines the safety passage start point location based on the safety passage start point location confirmation information. The user controls the lawnmower robot to move from the second target location to the third target location. When the lawnmower robot reaches the third target location, as shown... Figure 5 As shown, the user clicks the "Reach the End of the Safety Passage" control on the control interface, enters the corresponding safety passage end location confirmation information, and determines the safety passage end location based on the safety passage end location confirmation information.

[0065] S102. Control the robot to move based on a first type of trajectory within the local area corresponding to each target position and collect multiple images. The first type of trajectory is a non-linear trajectory.

[0066] After determining the target location, the robot operates automatically based on that location. For each target location, the robot moves within a corresponding local area based on a first type of trajectory. This first type of trajectory is a non-linear trajectory; for example, it is an arc-shaped trajectory. The arc-shaped trajectory includes multiple first sub-trajectories and multiple second sub-trajectories. The direction of the robot's movement along the first sub-trajectories is opposite to the direction of its movement along the second sub-trajectories. For example, as... Figure 6 As shown, the lawnmower moves based on an arc-shaped trajectory within the local areas corresponding to the first target position, the second target position, and the third target position, respectively. Trajectory a is the first sub-trajectory of the arc-shaped trajectory, and trajectory b is the second sub-trajectory of the arc-shaped trajectory. The direction in which the lawnmower moves along trajectory a is opposite to the direction in which the robot moves along trajectory b.

[0067] As the robot moves along an arc-shaped trajectory within a local area corresponding to each target location, it automatically acquires multiple images of that location. For example, during the robot's movement, images are automatically acquired at a corresponding image acquisition frequency. For example, taking the target location as the target point and selecting the direction of travel towards the target location as the forward direction, the robot enters the mapping mode at a distance L from the target location and continuously acquires images facing the target location. Keyframes are triggered with a mileage increment Δs = 0.05m or an angle increment Δθ = 3° to acquire the corresponding images. When controlling the robot to move along an arc-shaped trajectory, multiple frames of images are acquired on multiple parallel paths facing the target location. The first sub-trajectory of the first arc-shaped trajectory facing the target location is located at the leftmost or rightmost position of the image when the target location is at a vertical distance L from the target location. The first sub-trajectory of the last arc-shaped trajectory facing the target location is located at the rightmost or leftmost position of the image when the target location is at a distance L from the target location. In other words, during the robot's movement based on the arc-shaped trajectory, the multiple images acquired corresponding to the target location all include relevant reference objects of the target location point. It should be noted that the image acquisition frequency can be flexibly set according to the actual situation, and no specific limitation is made in this application.

[0068] For example, such as Figure 7 As shown, the lawnmower automatically acquires multiple images corresponding to the first target position while moving along an arc-shaped trajectory within a local area corresponding to the second target position; the lawnmower automatically acquires multiple images corresponding to the second target position while moving along an arc-shaped trajectory within a local area corresponding to the third target position; and the lawnmower automatically acquires multiple images corresponding to the third target position while moving along an arc-shaped trajectory within a local area corresponding to the third target position.

[0069] Users only need to control the robot to move to each target location for the first time. After the target location is determined, the robot will run automatically based on the determined target location. It can automatically identify the target location. Compared with the method of the user remotely controlling the robot to walk along the boundary of the target area, it is not only simple to operate and reduces the time of manual operation, but also the user's walking distance is shorter. Moreover, there is no problem that the boundary trajectory cannot be closed after walking once and needs to be walked again. It can avoid the need for the user to manually operate the robot to complete the mapping of the target area.

[0070] For example, when the robot is a lawnmower, the user can identify the location of the charging station as the target location and perform local mapping on the location of the charging station to complete the establishment of a local sub-map with the charging station as the base point. When the local sub-map is completed, the lawnmower can automatically start mowing operations based on its vision sensors. When the mowing task is completed or the battery is insufficient, it can identify the location of the charging station through the local sub-map and complete the task of returning the lawnmower to the charging station.

[0071] In some embodiments, controlling the robot to move based on a first type of trajectory and acquire multiple images within a local area corresponding to each target location includes: controlling the robot to move based on an arc-shaped trajectory within a local area corresponding to each target location, and acquiring images when preset conditions are met.

[0072] For example, satisfying the preset conditions includes: the robot moving along the first sub-track; and / or, the robot moving along the second sub-track; wherein the direction in which the robot moves along the first sub-track is opposite to the direction in which the robot moves along the second sub-track.

[0073] In one implementation, image acquisition is performed only as the robot moves along the first sub-trajectory. For example, as... Figure 6 As shown, the lawnmower robot automatically collects multiple images corresponding to the first target position while moving along trajectory a. However, it stops collecting images while moving along trajectory b. In other words, the lawnmower robot only collects images facing the point of interest 1, thus saving image storage space while ensuring mapping quality.

[0074] In other embodiments, image acquisition may be performed only during the robot's movement along the second sub-track, or image acquisition may be performed during the robot's movement along both the first and second sub-tracks. No specific limitations are imposed in this application.

[0075] In some embodiments, such as Figure 8 As shown, step S102 may include sub-step S1021 and sub-step S1022.

[0076] S1021. Determine the target direction corresponding to each of the target positions;

[0077] S1022. Control the robot to move along an arc-shaped trajectory based on the target direction within a local area corresponding to the target position; wherein, the arc-shaped trajectory in the target direction indicates that the trajectory direction corresponding to the first sub-trajectory or the second sub-trajectory of the arc-shaped trajectory is the target direction.

[0078] If the first or second sub-trajectory of the bow-shaped trajectory corresponds to different trajectory directions, then the images captured by the robot during its movement based on the bow-shaped trajectory will also be different. For example, Figure 6 As shown, trajectory a is oriented towards the first target position (vertical direction in the diagram). As the lawnmower moves along trajectory a, it acquires images facing the first target position. If the trajectory a becomes horizontal, the robot will not acquire images facing the first target position. Therefore, to obtain a high-quality map corresponding to each target position, a suitable target direction is determined for each target position. Then, the robot moves within a local area corresponding to the target position using an arc-shaped trajectory based on the determined target direction. This allows it to acquire images facing the target position during movement, thus enabling better mapping.

[0079] In some embodiments, determining the target direction corresponding to each target location includes: if the target location is the starting point or ending point of the safety passage, then the target direction is determined to be a first direction, wherein the first direction is the direction of the line connecting the starting point and the ending point of the safety passage; if the target location is the charging pile location, then the target direction is determined to be a second direction, wherein the second direction is the direction of movement of the robot leaving the charging pile.

[0080] For example, such as Figure 9 As shown, for the first target position, the direction of the lawnmower robot's initial movement after leaving the charging station, i.e., the direction of the dashed line A, is taken as the target direction of the lawnmower robot's arc-shaped trajectory corresponding to the first target position. For the second and third target positions, the direction of the line connecting the second and third target positions, i.e., the direction of the dashed line B, is taken as the target direction of the lawnmower robot's arc-shaped trajectory corresponding to the second and third target positions. In this way, as the lawnmower robot moves based on the arc-shaped trajectory, it collects images facing each target position, thus enabling better mapping.

[0081] S103. Generate a sub-map corresponding to each target location based on the multiple images collected for each target location.

[0082] For example, based on multiple images collected by the robot during its movement along an arc-shaped trajectory within a local area corresponding to each target location, a sub-map is generated using the visual-inertial odometry (VIO) algorithm. Of course, other algorithms can also be used, such as ORB-SLAM2 (Oriented FAST and Rotated BRIEF-Simultaneous Localization and Mapping) and MSCKF (Multi-State Constraint Kalman Filter), etc., and this application does not impose specific limitations.

[0083] For example, a sub-map of the charging station's location can be generated. If the robot successfully locates the station based on this sub-map, it can return to the station more accurately. Furthermore, the sub-map can also be used to identify whether the charging station has been moved.

[0084] For example, by generating sub-maps of the starting and ending points of a safety passage, the robot can accurately locate the starting and ending points of the safety passage and safely pass through the safety passage between them.

[0085] For methods of robot mapping based on different trajectories, such as Figures 10-12 As shown, in Figure 10 In the process, images are captured during the robot's rotation and movement. Figure 10 Of the 3D point ①, only images 1 and 2 contain the content of 3D point ①. Figure 10 Of the 3D point ② in the image, only image 2 contains the content of 3D point ②. Figure 10 Of the 3D point ③ in the image, only images 2 and 3 contain the content of 3D point ③, indicating poor visual mapping quality. Figure 11 In the process, images are acquired as the robot moves straight forward. Figure 11 Of the 3D point ①, only images 1 and 2 contain the content of 3D point ①. Figure 11 3D point ② in the image, images 1, 2, and 3 contain the content of 3D point ②. Figure 11 Of the 3D points ③, only images 2 and 3 contain 3D point ③, indicating that the quality of the visual mapping is generally poor. Figure 12 In the process of the robot's crab-like movement, images are collected for... Figure 12 The 3D point ① in the image, and the contents of images 1, 2, and 3 are contained in 3D point ①. Figure 12 3D point ② in the image, images 1, 2, and 3 contain the content of 3D point ②. Figure 12 The 3D point ③ in the image is contained in images 1, 2, and 3, and the visual mapping quality is the best among the three methods. The robot can achieve [the desired result] by moving based on an arc-shaped trajectory and acquiring images. Figure 12 As shown in the diagram, the quality of mapping based on the robot's bow-shaped trajectory is higher than that based on its straight forward movement.

[0086] In some embodiments, after step S101, the method includes: determining a mapping order corresponding to the plurality of target locations; controlling the robot to move sequentially to each target location according to the mapping order; and executing step S102 when the robot moves to each target location.

[0087] For example, based on the return path autonomously planned by the robot, the mapping order corresponding to multiple target locations is determined. For instance, as... Figure 13 As shown, the user controls the lawnmower robot to move from the charging station to the starting point of the safety passage. When the robot reaches the starting point, the user clicks the "Reach Safety Passage Start Point" control. The user then continues controlling the robot to move towards the end point of the safety passage, clicking the "Reach Safety Passage End Point" control upon arrival. Afterward, the robot runs automatically, and its return path is the reverse of the user's movement. The mapping sequence is determined as: Safety Passage End Point → Safety Passage Start Point → Charging Station. Based on this sequence, the robot first moves along an arc-shaped trajectory within the local area corresponding to the Safety Passage End Point, collecting images and creating a map of that location. Then, the robot moves to the starting point, again moving along an arc-shaped trajectory within the local area corresponding to that point, collecting images and creating a map of that location. Finally, the robot moves to the charging station, again moving along an arc-shaped trajectory within the local area corresponding to that location, collecting images and creating a map of that location. The lawnmower generates maps of each point of interest sequentially based on the return path, resulting in a shorter movement path for the lawnmower.

[0088] It should be noted that maps corresponding to each target location can also be generated in other orders, and no specific restrictions are imposed in this application.

[0089] In the above embodiments, by acquiring at least one target location in the target area, the robot is controlled to move based on a first type of trajectory and collect multiple images in the local area corresponding to each target location. The first type of trajectory is a non-linear trajectory. Then, based on the multiple images collected for each target location, a sub-map corresponding to each target location is generated. Compared with the method of the robot moving straight forward along the boundary of the target area to build the map, this not only improves the quality of the map but also effectively improves the efficiency of the map building.

[0090] Please see Figure 14 , Figure 14 This is a schematic block diagram of a mapping apparatus provided in an embodiment of this application. The mapping apparatus can be configured in a robot or a robot's control device to perform the aforementioned mapping method.

[0091] like Figure 14 As shown, the mapping device 200 may include a processor 210 and a memory 220, wherein the processor 210 and the memory 220 are connected via a bus, such as an I2C (Inter-integrated Circuit) bus.

[0092] Specifically, the processor 210 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0093] Specifically, the memory 220 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc. The memory 220 stores various computer programs for the processor 210 to execute.

[0094] The processor 210 is used to run a computer program stored in the memory, and to implement the following when executing the computer program:

[0095] Obtain at least one target location within the target area;

[0096] The robot is controlled to move based on a first type of trajectory within a local area corresponding to each target location and acquire multiple images. The first type of trajectory is a non-linear trajectory.

[0097] A sub-map corresponding to each target location is generated based on the multiple images collected for each target location.

[0098] In some embodiments, the first type of trajectory is an arc-shaped trajectory, and the processor 210, when controlling the robot to move based on the first type of trajectory and acquire multiple images within a local area corresponding to each target position, is configured to:

[0099] The robot is controlled to move based on an arc-shaped trajectory within a local area corresponding to each target position, and image acquisition is performed when preset conditions are met.

[0100] In some embodiments, the arcuate trajectory includes multiple first sub-trajectories and multiple second sub-trajectories, and satisfying the preset conditions includes:

[0101] The robot moves along the first sub-track; and / or

[0102] The robot moves along the second sub-track;

[0103] Wherein, the direction in which the robot moves along the first sub-track is opposite to the direction in which the robot moves along the second sub-track.

[0104] In some embodiments, when the processor 210 implements the control of the robot to move based on an arc-shaped trajectory within a local area corresponding to each target position, it is configured to:

[0105] Determine the target direction corresponding to each of the target locations;

[0106] The robot is controlled to move along an arc-shaped trajectory based on the target direction within a local area corresponding to the target position; wherein the arc-shaped trajectory in the target direction indicates that the trajectory direction corresponding to the first sub-trajectory or the second sub-trajectory of the arc-shaped trajectory is the target direction.

[0107] In some embodiments, the target location includes at least one of the starting point of a safety passage, the ending point of a safety passage, and the location of a charging pile. When the processor 210 determines the target direction corresponding to each target location, it is configured to:

[0108] If the target location is the starting point or the ending point of the safety passage, then the target direction is determined to be the first direction, which is the direction of the line connecting the starting point and the ending point of the safety passage.

[0109] If the target location is the location of the charging pile, then the target direction is determined to be the second direction, which is the direction in which the robot moves away from the charging pile.

[0110] In some embodiments, when the processor 210 performs the task of acquiring at least one target location of the target region, it is configured to:

[0111] Receive target location confirmation information input by the user; wherein, when the robot first arrives at each of the target locations, the user inputs the target location confirmation information;

[0112] Based on the target location confirmation information, the corresponding target location is determined.

[0113] In some embodiments, before receiving the target location confirmation information input by the user, the processor 210 is configured to perform the following:

[0114] The robot's control interface is displayed so that the user can input the target location confirmation information based on the control interface.

[0115] In some embodiments, the target locations include multiple locations, and after acquiring at least one target location of the target region, the processor 210 is configured to:

[0116] Determine the mapping order corresponding to multiple target locations;

[0117] The robot is controlled to move sequentially to each of the target positions according to the mapping sequence;

[0118] When the robot moves to each of the target locations, the step of controlling the robot to move based on a first type of trajectory within the local area corresponding to each target location and acquiring multiple images is performed.

[0119] The mapping apparatus 200 can execute the mapping method provided in the embodiments of this application. Therefore, it can achieve the beneficial effects that the mapping method provided in the embodiments of this application can achieve. For details, please refer to the previous embodiments, which will not be repeated here.

[0120] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the mapping method described above.

[0121] The computer-readable storage medium may be an internal storage unit of the mapping device, robot, or computer equipment described in the foregoing embodiments, such as a hard disk or memory of the mapping device, robot, or computer equipment. The computer-readable storage medium may also be an external storage device of the mapping device, robot, or computer equipment, such as a plug-in hard disk, SmartMediaCard (SMC), SecureDigitalCard (SDCard), or FlashCard equipped on the mapping device, robot, or computer equipment.

[0122] Since the computer program stored in the storage medium can execute any of the mapping methods provided in the embodiments of this application, it can achieve the beneficial effects that any of the mapping methods provided in the embodiments of this application can achieve, as detailed in the preceding embodiments, and will not be repeated here.

[0123] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0124] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the scope of the technology disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application.

Claims

1. A mapping method characterized by, include: Obtain at least one target location within the target area; The robot is controlled to move based on a first type of trajectory and acquire multiple images within a local area corresponding to each target location. The first type of trajectory is a non-linear trajectory. The first type of trajectory includes an arc-shaped trajectory, which includes multiple first sub-trajectories and multiple second sub-trajectories. The direction in which the robot moves along the first sub-trajectories is opposite to the direction in which the robot moves along the second sub-trajectories. The target location is a location of interest to the user. Based on the multiple images collected for each target location, a sub-map corresponding to each target location is generated; The controlled robot moves based on a first type of trajectory within a local area corresponding to each target location and acquires multiple images, including: Using the target location as the target point, and selecting the direction facing the target location as the forward direction, multiple images are acquired on the first sub-trajectory facing the target location, and each of the multiple images includes relevant reference objects of the target location.

2. The mapping method of claim 1, wherein, The first type of trajectory is an arc-shaped trajectory. The controlled robot moves based on the first type of trajectory within a local area corresponding to each target position and acquires multiple images, including: The robot is controlled to move based on an arc-shaped trajectory within a local area corresponding to each target position, and image acquisition is performed when preset conditions are met.

3. The mapping method of claim 2, wherein, Controlling the robot to move based on an arc-shaped trajectory within a local area corresponding to each target position includes: Determine the target direction corresponding to each of the target locations; The robot is controlled to move along an arc-shaped trajectory based on the target direction within a local area corresponding to the target position; wherein the arc-shaped trajectory in the target direction indicates that the trajectory direction corresponding to the first sub-trajectory or the second sub-trajectory of the arc-shaped trajectory is the target direction.

4. The mapping method of claim 3, wherein, The target location includes at least one of the following: the starting point of the safety passage, the ending point of the safety passage, and the location of the charging pile. Determining the target direction corresponding to each target location includes: If the target location is the starting point or the ending point of the safety passage, then the target direction is determined to be the first direction, which is the direction of the line connecting the starting point and the ending point of the safety passage. If the target location is the location of the charging pile, then the target direction is determined to be the second direction, which is the direction in which the robot moves away from the charging pile.

5. The mapping method of claim 1, wherein, The acquisition of at least one target location within the target area includes: Receive target location confirmation information input by the user; wherein, when the robot first arrives at each of the target locations, the user inputs the target location confirmation information; Based on the target location confirmation information, the corresponding target location is determined.

6. The mapping method of claim 5, wherein, Before receiving the target location confirmation information input by the user, the process includes: The robot's control interface is displayed so that the user can input the target location confirmation information based on the control interface.

7. The mapping method of claim 1, wherein, The target locations include multiple locations, and after obtaining at least one target location in the target area, the process includes: Determine the mapping order corresponding to multiple target locations; controlling the robot to move to each of the target positions in sequence according to the mapping sequence; when the robot moves to each of the target positions, performing the step of controlling the robot to move in a first type of trajectory in a local area corresponding to each of the target positions and to capture multiple images.

8. A mapping device, characterized by The mapping device comprises a processor and a memory, the memory stores a computer program executable by the processor, and the computer program is executed by the processor to implement the steps of the mapping method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores one or more programs, and 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 7.

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