Map generation method and device, mobile robot, and computer device

Abstract

This application relates to a map generation method, apparatus, mobile robot, computer device, computer-readable storage medium, and computer program product. The method is applied to the control module of a mobile robot and includes: responding to a mapping completion command for a first region, controlling the mobile robot to move from a first position to a target position according to a received movement control signal, and recording the movement path of the mobile robot from the first position to the target position, wherein the first position is located within a first region, and the target position is located within a second region that has not been mapped; and generating a working channel from the first region to the second region based on the movement path. This method simplifies the process and improves efficiency.

Description

[0001] This application relates to the field of mobile robot technology, and in particular to a map generation method, apparatus, mobile robot, computer equipment, computer-readable storage medium, and computer program product. Background Technology

[0002] During the operation of a mobile work robot, a work map needs to be created based on the work area. In some scenarios, there may be multiple work areas. To ensure the normal operation of the robot, movement channels between these work areas need to be generated on the work map.

[0003] In related technologies, a local map corresponding to each work area is first created by controlling the robot's movement. After the map is created, the robot is controlled to move between work areas, generating movement channels. However, this method is cumbersome and inefficient. Summary of the Invention

[0004] Therefore, it is necessary to provide a map generation method, apparatus, mobile robot, computer equipment, computer-readable storage medium, and computer program product that can simplify the process and improve efficiency in response to the above-mentioned technical problems.

[0005] In a first aspect, this application provides a map generation method, which is applied to the control module of a mobile robot, comprising: In response to the mapping completion command of the first region, the mobile robot is controlled to move from the first position to the target position according to the received motion control signal, and the movement path of the mobile robot from the first position to the target position is recorded, wherein the first position is located in the first region and the target position is located in the unmapped second region; Based on the movement path, a working channel is generated from the first region to the second region.

[0006] In one embodiment, generating a working channel from the first region to the second region based on the movement path includes: Based on the movement path, determine the connection path from the first region to the second region from the movement path; Based on the environmental information collected by the mobile robot along the connection path, the connection path is adjusted to obtain a working channel.

[0007] In one embodiment, adjusting the connection path based on environmental information collected by the mobile robot along the connection path to obtain a working channel includes: Based on the curvature change information and turning feature information corresponding to the connection path, the connection path is adjusted to obtain the initial working channel; The mobile robot acquires environmental information collected along the connection path and determines the distance between the initial working channel and obstacles based on the environmental information. The initial working channel is adjusted according to the distance to obtain the working channel.

[0008] In one embodiment, determining the connection path from the first region to the second region based on the movement path includes: Obtain multiple trajectory points corresponding to the movement path; Based on the movement trend of the trajectory points, the movement path is divided into multiple path segments; From the multiple paths, determine the connection path from the first region to the second region.

[0009] In one embodiment, dividing the movement path into multiple path segments based on the movement trend of the trajectory points includes: The boundary of the second region is determined based on the movement trend of the trajectory points; Based on the map information of the first region and the boundary of the second region, the movement path is divided into multiple path segments.

[0010] In one embodiment, the method further includes: In the case of multiple mapped work areas where no work channels have been established, the mobile robot is controlled to pass through the mapped work areas sequentially according to the received motion control signal to obtain an initial path; Based on the initial path, determine the working channels between the mapped working areas.

[0011] Secondly, this application also provides a map generation device, which is applied to the control module of a mobile robot, comprising: The control module is used to respond to the mapping completion command of the first area, control the mobile robot to move from the first position to the target position according to the received movement control signal, and record the movement path of the mobile robot from the first position to the target position, wherein the first position is located in the first area and the target position is located in the unmapped second area; The generation module is used to generate a working channel from the first region to the second region based on the movement path.

[0012] In one embodiment, the generation module is further configured to: Based on the movement path, determine the connection path from the first region to the second region from the movement path; Based on the environmental information collected by the mobile robot along the connection path, the connection path is adjusted to obtain a working channel.

[0013] In one embodiment, the generation module is further configured to: Based on the curvature change information and turning feature information corresponding to the connection path, the connection path is adjusted to obtain the initial working channel; The mobile robot acquires environmental information collected along the connection path and determines the distance between the initial working channel and obstacles based on the environmental information. The initial working channel is adjusted according to the distance to obtain the working channel.

[0014] In one embodiment, the generation module is further configured to: Obtain multiple trajectory points corresponding to the movement path; Based on the movement trend of the trajectory points, the movement path is divided into multiple path segments; From the multiple paths, determine the connection path from the first region to the second region.

[0015] In one embodiment, the generation module is further configured to: The boundary of the second region is determined based on the movement trend of the trajectory points; Based on the map information of the first region and the boundary of the second region, the movement path is divided into multiple path segments.

[0016] In one embodiment, the device is further used to: In the case of multiple mapped work areas where no work channels have been established, the mobile robot is controlled to pass through the mapped work areas sequentially according to the received motion control signal to obtain an initial path; Based on the initial path, determine the working channels between the mapped working areas.

[0017] Thirdly, embodiments of this disclosure also provide a mobile robot, including a controller, the controller being configured to perform the steps of the method described in any one of the embodiments of this disclosure.

[0018] Fourthly, embodiments of this disclosure also provide a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the method described in any one of the embodiments of this disclosure.

[0019] Fifthly, embodiments of this disclosure also provide a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the method described in any one of the embodiments of this disclosure.

[0020] Sixthly, embodiments of this disclosure also provide a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the method described in any one of the embodiments of this disclosure.

[0021] The aforementioned map generation method, apparatus, mobile robot, computer equipment, computer-readable storage medium, and computer program product, during the mapping process of the mobile robot, after the mapping of the first area is completed, move from the first position to the target position and automatically record the movement path. Based on the movement path, a working channel from the first area to the second area is generated. Thus, the working channel can be generated simultaneously during the mapping of the area, eliminating the need to create the working channel between the first and second areas after the map of the second area is created. This reduces the workload of mobile robot mapping in multi-working-area scenarios, simplifies the mapping process, improves map generation efficiency, and is applicable to more application scenarios. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart illustrating a map generation method in one embodiment; Figure 2 This is a flowchart illustrating the map generation method in another embodiment; Figure 3 This is a flowchart illustrating the map generation method in another embodiment; Figure 4 This is a structural block diagram of a map generation device in one embodiment; Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0025] In one embodiment, such as Figure 1 As shown, a map generation method is provided, which is applied to the control module of a mobile robot, including: Step S110: In response to the mapping completion instruction of the first region, control the mobile robot to move from the first position to the target position according to the received motion control signal, and record the movement path of the mobile robot from the first position to the target position, wherein the first position is located in the first region and the target position is located in the unmapped second region; For example, after the mapping of the first area is completed, the control module will receive a mapping completion instruction. This instruction can be automatically triggered by the control module or obtained based on user input or operation commands. The mobile robot can include, but is not limited to, lawnmower robots, sweeping robots, etc., depending on the actual application scenario. In some examples, the mobile robot's control module is communicatively connected to a user control terminal, which can be used to receive relevant instructions and movement control signals. The user can send movement control signals to the control module through the user terminal to control the mobile robot's movement.

[0026] In some examples, as the user controls the robot's movement, the system continuously records the sequence of the robot's position points to form a movement trajectory; each position point contains coordinate information and can be associated with environmental data collected by sensors; when establishing a new work area, the system also records the set of boundary points of that area.

[0027] Optionally, the control module controls the mobile robot to move from a first position to a target position based on the movement control signal. In some examples, the first position is located within a first area, and the target position is located within a second area that has not yet been mapped. Typically, the mobile robot needs to move between multiple work areas during the mapping process; therefore, work channels need to be established on the map to ensure the mobile robot can move normally.

[0028] Step S120: Generate a working channel from the first region to the second region based on the movement path.

[0029] For example, a working channel between the first region and the second region is generated based on the movement path. In some examples, since the first location is located in the first region and the target location is located in the second region, the movement path includes a channel between the first region and the second region, and the working channel can be directly or indirectly determined based on the movement path.

[0030] In some examples, the path corresponding to the channel can be determined based on the feature information of the trajectory points on the movement path, and a working channel can be generated. Optionally, the original path can be optimized and adjusted to obtain the working channel, which can be determined according to the actual application scenario, such as eliminating unnecessary turns and small-range back-and-forth movements.

[0031] In this embodiment of the disclosure, during the mapping process of a mobile robot, after the mapping of the first region is completed, the robot moves from the first position to the target position and automatically records the movement path. Based on the movement path, a working channel from the first region to the second region is generated. This allows the working channel to be generated simultaneously during the mapping process, eliminating the need to create the working channel between the first and second regions after the map of the second region is created. This reduces the workload of mobile robot mapping in multi-working-region scenarios, simplifies the mapping process, improves map generation efficiency, and is applicable to more application scenarios.

[0032] In one embodiment, such as Figure 2 As shown, generating a working channel from the first region to the second region based on the movement path includes: Step S121: Determine the connection path from the first region to the second region from the movement path based on the movement path; Step S122: Based on the environmental information collected by the mobile robot on the connection path, adjust the connection path to obtain a working channel.

[0033] For example, determining connecting paths from a movement path can be achieved by analyzing the coordinates, timestamps, and motion state parameters (such as velocity, acceleration, and heading angle) recorded by the mobile robot during its movement. For instance, when the mobile robot moves from a first region to a second region, its trajectory points will show a trend of gradually extending outwards from the interior of the first region, eventually entering the second region. By performing clustering analysis or boundary detection algorithms on these trajectory points, the trajectory segments belonging to the transitional parts between regions in the movement path can be identified, i.e., the connecting paths. In some examples, this connecting path is typically a continuous trajectory of the mobile robot from the boundary of the first region to the boundary of the second region.

[0034] Optionally, the mobile robot can acquire environmental data along its connecting path using various onboard sensors, including but not limited to vision sensors, LiDAR, and ultrasonic sensors. For example, LiDAR can scan the surrounding environment and generate high-precision point cloud data, thereby accurately detecting the position, shape, and size of obstacles on both sides of the path; vision sensors can collect image information and identify the type of obstacle (such as walls, furniture, pedestrians, etc.) through image recognition technology; and ultrasonic sensors can be used to detect obstacles at close range, compensating for the detection blind spots of LiDAR in certain complex environments.

[0035] For example, when adjusting the connection path to obtain the working channel, preliminary optimization is first performed based on the curvature change information and steering characteristic information of the connection path. For instance, if there are too many unnecessary small-angle turns or frequent direction adjustments in the connection path, the trajectory segment can be corrected using smoothing algorithms such as Bézier curve fitting and spline curve interpolation to make the path smoother, reduce the bumps and energy consumption of the mobile robot during travel, and obtain the initial working channel.

[0036] In some examples, the distance between the initial working path and surrounding obstacles is calculated by combining environmental information collected by the mobile robot. If the distance between a certain segment of the initial working path and an obstacle is less than a preset safety threshold, the path needs to be adjusted. Adjustment methods include, but are not limited to, replanning the path on the other side of the obstacle, locally shifting the path to increase the safe distance from the obstacle, or, where permissible, avoiding or detouring around the obstacle.

[0037] In this embodiment of the disclosure, by accurately extracting the connection path between the first region and the second region from the movement path, and dynamically adjusting it in conjunction with the environmental information collected in real time by the mobile robot on the path, it is possible to ensure that the generated working channel not only meets the connection requirements between regions, but also fully adapts to the distribution of obstacles in the actual environment, thereby obtaining a safer and more reasonable working channel.

[0038] In one embodiment, such as Figure 3 As shown, the step of adjusting the connection path based on environmental information collected by the mobile robot along the connection path to obtain a working channel includes: Step S1221: Adjust the connection path according to the curvature change information and turning feature information corresponding to the connection path to obtain the initial working channel; Step S1222: Obtain environmental information collected by the mobile robot on the connection path, and determine the distance between the initial working channel and the obstacle based on the environmental information; Step S1223: Adjust the initial working channel according to the distance to obtain the working channel.

[0039] For example, curvature change information can be calculated from the coordinates of trajectory points during the movement of the mobile robot, such as the rate of change of the tangent angle of the line connecting adjacent trajectory points, the distribution of the curvature radius of the path curve, etc., which can reflect the curvature degree and trend of the path; the steering characteristic information includes the change of heading angle, steering angular velocity, and steering duration of the mobile robot at each point on the path, which can reflect the steering behavior characteristics of the robot.

[0040] Optionally, when adjusting the connection path, the adjustment method can be determined based on the actual application scenario. For example, the original connection path can be smoothed using Bézier curves or B-spline curves to eliminate sharp corners and abrupt turns; the path can be piecewise linearly fitted to retain key turning points and simplify the path structure; and curved sections that exceed the robot's motion capabilities can be corrected based on the mobile robot's kinematic model to ensure the path's drivability.

[0041] For example, when determining the distance between the initial working channel and the obstacle, it can be calculated using Euclidean distance. For instance, the three-dimensional coordinates or two-dimensional contour data of the obstacle can be extracted from the environmental information, and then the shortest Euclidean distance from each sampling point on the initial working channel to the boundary of the obstacle can be calculated. Alternatively, the minimum distance between the channel and the bounding box can be calculated by constructing the bounding box of the obstacle, which can then be used as the distance between the initial working channel and the obstacle.

[0042] In some possible implementations, when adjusting based on distance, if the calculated distance is greater than or equal to a preset safety threshold, the initial working path remains unchanged; if the distance is less than the safety threshold and the obstacle is a static fixed obstacle, the initial working path is partially offset or a new detour path is replanned within the safety distance range, using the obstacle boundary as a constraint, so that the distance between the adjusted path and the obstacle is not less than the safety threshold; if the obstacle is a dynamic obstacle, the path is adjusted to avoid its possible movement range, based on the predicted movement trend of the obstacle, while ensuring the overall continuity and efficiency of the path.

[0043] In this embodiment, the path is first initially adjusted based on the curvature change information and turning characteristic information of the connecting path to obtain an initial working channel. Then, the distance between the initial working channel and obstacles is determined by combining the environmental information collected by the mobile robot. The initial working channel is then further optimized and adjusted based on this distance to finally obtain the working channel. This approach considers both the geometric characteristics of the path itself and the obstacle conditions in the actual environment, ensuring that the generated working channel satisfies the kinematic constraints of the mobile robot while minimizing obstacle avoidance, thus guaranteeing the safety and smoothness of the mobile robot's movement within the working channel.

[0044] In one embodiment, determining the connection path from the first region to the second region based on the movement path includes: Obtain multiple trajectory points corresponding to the movement path; Based on the movement trend of the trajectory points, the movement path is divided into multiple path segments; From the multiple paths, determine the connection path from the first region to the second region.

[0045] For example, how are multiple trajectory points determined; how is the movement trend determined; how is the movement path determined as a channel or a region map based on the movement trend; how is it divided; and how is the connecting path determined from multiple path segments? For example, as the mobile robot moves from a first position to a target position, its onboard positioning module continuously records its own position coordinates at preset time intervals or distance intervals. These continuous position coordinates constitute multiple trajectory points on the movement path. For instance, if the mobile robot records its position at a sampling interval of 100ms, a series of trajectory point sequences containing timestamps and two-dimensional and three-dimensional coordinate information will be generated during the movement from the first position to the target position.

[0046] Optionally, the movement trend can be characterized by parameters such as the rate of change of coordinates, the change of orientation angle, and the change of velocity of the trajectory points. For example, when the mobile robot moves within the first area, its trajectory points may exhibit reciprocating or covering motion characteristics within a certain range, with frequent changes in orientation angle and fluctuating speed. When the robot begins to move into the second area, the trajectory points will show a clear linear extension trend, with relatively stable orientation angle and a relatively uniform speed. Based on these characteristics, a sliding window method or a segmented clustering algorithm can be used to analyze the trajectory point sequence. For example, a sliding window can be set, and the average orientation angle and velocity variance of the trajectory points within the window can be calculated. When the average orientation angle change of multiple consecutive windows is less than a preset threshold and the velocity variance is lower than a certain value, it is determined that the robot has entered the transition stage from the first area to the second area, thus dividing the trajectory points in this stage into an independent path. In addition, the division can be aided by detecting whether the trajectory points cross the boundary of the first area. When a trajectory point enters from a preset buffer zone outside the boundary of the first area, it can be marked as the starting point of the connecting path.

[0047] In some possible implementations, the connection path from the first region to the second region can be determined from the multiple path segments by combining the location information of the first and second regions. First, the mapped first region has a clearly defined boundary on the map, while the target location is located in the unmapped second region. Therefore, the starting point of the connection path should be near the boundary of the first region or close to its boundary, and the ending point should be near the entrance of the second region where the target location is located. Among the resulting multiple path segments, the path that starts within or on the boundary of the first region, ends within or at the entrance of the second region, and exhibits an overall trend of extending from the first region to the second region is selected as the connection path from the first region to the second region. For example, if the starting points of a path all fall within the boundary of the first region, subsequent points gradually move away from the center of the first region and eventually reach the target location, and the direction vector of this path is approximately the same as the vector pointing from the center of the first region to the center of the second region, then this path can be identified as a connection path.

[0048] In this embodiment, multiple trajectory points in the movement path are obtained, and the movement path is reasonably divided into multiple segments based on the movement trend of the trajectory points. Then, the connection path connecting the first area to the second area is accurately determined from these segments. The connection path extracted by this method accurately reflects the main connection direction between the two areas, ensuring the accuracy and reliability of the working channel and making it suitable for more application scenarios.

[0049] In one embodiment, dividing the movement path into multiple path segments based on the movement trend of the trajectory points includes: The boundary of the second region is determined based on the movement trend of the trajectory points; Based on the map information of the first region and the boundary of the second region, the movement path is divided into multiple path segments.

[0050] For example, the boundary of the second region can be determined by combining the path characteristics of the mobile robot during work area mapping. In some possible implementations, the mobile robot forms a closed path trajectory during work area mapping, and the area within this closed path is the corresponding work area. Therefore, the boundary of the second region can be obtained by determining the closed path trajectory within the movement path based on the movement trajectory of the trajectory points. Based on the map information of the first region and the boundary of the second region, the connecting segments in the movement path that intersect with the boundaries of the first and second regions are determined, and the path corresponding to the work channel is obtained, thus dividing this path segment.

[0051] For example, the movement trend of trajectory points can be comprehensively characterized by various information such as the direction of coordinate changes, velocity changes, and heading angle changes. For instance, when a mobile robot moves from a first region to a second region, the coordinates of the trajectory points will show a continuous trend of extending away from the center of the first region, the fluctuation range of the heading angle will significantly decrease, and the overall movement direction will have strong consistency. When the mobile robot maps the second region, the coordinates of the trajectory points will exhibit regional characteristics and be distributed around a certain point, which can be the center point of the second region. Furthermore, the distribution density of trajectory points may also change; when mapping within a region, the trajectory points are distributed more densely to achieve fine coverage, while during movement to a new region, the distribution of trajectory points is relatively sparse.

[0052] Optionally, the boundary of the second region can be determined based on a comprehensive judgment of the movement trend of the trajectory points and environmental characteristics. In some examples, the distance of the trajectory points from the center of the first region can be analyzed to determine the mapping path corresponding to the second region in the movement path. For example, if the distance between the trajectory point and the center of the first region no longer increases continuously and exhibits a covering motion characteristic within the new region, it can be considered that the trajectory point belongs to the mapping path of the second region. The boundary of the second region can be determined based on the mapping path of the second region. In other possible implementations, the boundary range of the second region can be determined by combining the initial trajectory point distribution when the mobile robot starts mapping the second region after reaching the target position. That is, the boundary of the region formed by the set of trajectory points that start dense mapping near the target position can be used as a boundary reference for the second region.

[0053] In some examples, when dividing the movement path, the complete movement path of the mobile robot from the first position to the target position is segmented by combining map information of the first region and the determined boundary of the second region. For example, starting from the starting point of the movement path, the trajectory points are all within the boundary range defined by the map of the first region; this stage of the path can be divided into a movement segment within the first region. When the trajectory points begin to cross the boundary of the first region and move towards the boundary of the second region, and the movement trend conforms to the characteristics of extending into the second region, this segment of trajectory points constitutes the inter-regional transition segment, that is, the main part connecting the path. When the trajectory points enter the determined boundary range of the second region until reaching the target position, this stage of the path can be divided into a movement segment within the second region.

[0054] In this embodiment, the boundary of the second region is accurately defined by the movement trend of trajectory points, which can clarify the scope of the unmapped area. Combined with the existing map information of the first region, the movement path is segmented based on this. The resulting multi-segment path can more clearly reflect the movement process of the mobile robot from the first region to the second region, which helps to accurately extract the connecting path in the future.

[0055] In one embodiment, the method further includes: In the case of multiple mapped work areas where no work channels have been established, the mobile robot is controlled to pass through the mapped work areas sequentially according to the received motion control signal to obtain an initial path; Based on the initial path, determine the working channels between the mapped working areas.

[0056] For example, when a mobile robot needs to establish a working path between multiple mapped work areas, it receives a movement control signal from the control system or user. This signal contains sequence information of the mapped work areas to be traversed sequentially, such as area A → area B → area C. Based on this signal, the mobile robot starts from its current initial mapped work area and moves to the subsequent mapped work areas in a specified order. During the movement, the robot records its trajectory in real time using its own positioning system, generating an initial path that connects all the specified mapped work areas. This initial path may include the robot's movement trajectory within each area and the transition trajectory between areas. For example, the mobile robot starts from the center of area A, first moves within area A to near the boundary of area B, then crosses into area B, moves a distance within area B, and then moves to area C, finally reaching the target position in area C. The sequence of trajectory points recorded throughout this process constitutes the initial path.

[0057] Optionally, after obtaining the initial path, it is necessary to determine the working channels between each mapped working area from the initial path. In some examples, for two adjacent mapped working areas, the trajectory segment connecting these two areas is first extracted from the initial path, which is the candidate connection path from area A to area B. Then, the candidate connection path is subjected to an optimization and adjustment process similar to that described above, including but not limited to smoothing based on the curvature change information and turning feature information of the path itself, to obtain the initial working channel; then, combined with the environmental information collected by the mobile robot on the candidate connection path, the distance between the initial working channel and surrounding obstacles is calculated. If the distance is less than a preset safety threshold, local offset or detour adjustment is performed, and finally a safe and reasonable working channel between area A and area B is obtained. Following the same method, working channels between other adjacent mapped working areas in the initial path can be determined sequentially, thereby realizing the automatic construction of working channels between multiple mapped working areas.

[0058] In this embodiment, when multiple mapped work areas exist but no working channels have been established, a mobile robot is controlled to traverse these mapped work areas sequentially by receiving a movement control signal, thereby obtaining an initial path that connects the various areas. Based on this initial path, the working channels between the mapped work areas are further analyzed and determined, thus enabling the efficient batch establishment of working channels between multiple mapped areas. This avoids the tedious process of individually planning paths and generating channels for each area, significantly improving the overall efficiency of working channel construction in multi-area scenarios and enhancing the applicability and practicality of the map generation method in complex environments.

[0059] In some possible implementations, the process of automatically generating a dual-zone channel includes: the user creates zone A through an app; the user controls the robot to move to the starting point of zone B, and the system records the trajectory; the user creates zone B; the system analyzes the trajectory points, identifies the point leaving zone A as the starting point, and the point entering zone B as the ending point; and automatically generates the A→B channel.

[0060] The process of multi-channel batch generation and post-processing includes: For example, if regions 1, 2, and 3 already exist, and region 4 needs to be created, with the robot in region 1, the user selects the "Create Region" mode; the robot starts from region 1, passes through regions 2 and 3 in sequence, and arrives at the starting point of region 4; region 4 is established; the system analyzes the complete trajectory; it identifies the point sequence leaving region 1 and the point sequence entering region 2, generating channel 1→2; it identifies the point sequence leaving region 2 and the point sequence entering region 3, generating channel 2→3; it identifies the point sequence leaving region 3 and the point sequence entering the buffer zone of region 4, generating channel 3→4; three channels are generated in one operation.

[0061] For example, the process of perception optimization channel includes: when the system records the mapping trajectory, it simultaneously collects LiDAR and visual data; analyzes and identifies trajectory points that are too close to obstacles; re-optimizes the trajectory points to maintain a safe distance from obstacles; and generates an optimized safe channel.

[0062] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0063] Based on the same inventive concept, this application also provides a map generation apparatus for implementing the map generation method described above. The solution provided by this apparatus is similar to the implementation described in the above method; therefore, the specific limitations in one or more map generation apparatus embodiments provided below can be found in the limitations of the map generation method described above, and will not be repeated here.

[0064] In one exemplary embodiment, such as Figure 4 As shown, a map generation device 400 is provided, which is applied to the control module of a mobile robot and includes: The control module 410 is used to respond to the mapping completion command of the first region, control the mobile robot to move from the first position to the target position according to the received movement control signal, and record the movement path of the mobile robot from the first position to the target position, wherein the first position is located in the first region and the target position is located in the unmapped second region; The generation module 420 is used to generate a working channel from the first region to the second region based on the movement path.

[0065] In one embodiment, the generation module is further configured to: Based on the movement path, determine the connection path from the first region to the second region from the movement path; Based on the environmental information collected by the mobile robot along the connection path, the connection path is adjusted to obtain a working channel.

[0066] In one embodiment, the generation module is further configured to: Based on the curvature change information and turning feature information corresponding to the connection path, the connection path is adjusted to obtain the initial working channel; The mobile robot acquires environmental information collected along the connection path and determines the distance between the initial working channel and obstacles based on the environmental information. The initial working channel is adjusted according to the distance to obtain the working channel.

[0067] In one embodiment, the generation module is further configured to: Obtain multiple trajectory points corresponding to the movement path; Based on the movement trend of the trajectory points, the movement path is divided into multiple path segments; From the multiple paths, determine the connection path from the first region to the second region.

[0068] In one embodiment, the generation module is further configured to: The boundary of the second region is determined based on the movement trend of the trajectory points; Based on the map information of the first region and the boundary of the second region, the movement path is divided into multiple path segments.

[0069] In one embodiment, the device is further used to: In the case of multiple mapped work areas where no work channels have been established, the mobile robot is controlled to pass through the mapped work areas sequentially according to the received motion control signal to obtain an initial path; Based on the initial path, determine the working channels between the mapped working areas.

[0070] Each module in the aforementioned map generation device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0071] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The database stores data involved in the methods described in this embodiment, such as preset action sequences. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a map generation method.

[0072] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0073] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0074] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0075] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0076] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0077] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0078] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0079] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A map generation method, characterized in that, The method is applied to the control module of a mobile robot, including: In response to the mapping completion command of the first region, the mobile robot is controlled to move from the first position to the target position according to the received motion control signal, and the movement path of the mobile robot from the first position to the target position is recorded, wherein the first position is located in the first region and the target position is located in the unmapped second region; Based on the movement path, a working channel is generated from the first region to the second region.

2. The method according to claim 1, characterized in that, The step of generating a working channel from the first region to the second region based on the movement path includes: Based on the movement path, determine the connection path from the first region to the second region from the movement path; Based on the environmental information collected by the mobile robot along the connection path, the connection path is adjusted to obtain a working channel.

3. The method according to claim 2, characterized in that, The step of adjusting the connection path based on environmental information collected by the mobile robot along the connection path to obtain a working channel includes: Based on the curvature change information and turning feature information corresponding to the connection path, the connection path is adjusted to obtain the initial working channel; The mobile robot acquires environmental information collected along the connection path and determines the distance between the initial working channel and obstacles based on the environmental information. The initial working channel is adjusted according to the distance to obtain the working channel.

4. The method according to claim 2, characterized in that, Determining the connection path from the first region to the second region based on the movement path includes: Obtain multiple trajectory points corresponding to the movement path; Based on the movement trend of the trajectory points, the movement path is divided into multiple path segments; From the multiple paths, determine the connection path from the first region to the second region.

5. The method according to claim 4, characterized in that, The process of dividing the movement path into multiple path segments based on the movement trend of the trajectory points includes: The boundary of the second region is determined based on the movement trend of the trajectory points; Based on the map information of the first region and the boundary of the second region, the movement path is divided into multiple path segments.

6. The method according to claim 1, characterized in that, The method further includes: In the case of multiple mapped work areas where no work channels have been established, the mobile robot is controlled to pass through the mapped work areas sequentially according to the received motion control signal to obtain an initial path; Based on the initial path, determine the working channels between the mapped working areas.

7. A map generation device, characterized in that, The device is used in the control module of a mobile robot and includes: The control module is used to respond to the mapping completion command of the first area, control the mobile robot to move from the first position to the target position according to the received movement control signal, and record the movement path of the mobile robot from the first position to the target position, wherein the first position is located in the first area and the target position is located in the unmapped second area; The generation module is used to generate a working channel from the first region to the second region based on the movement path.

8. A mobile robot, characterized in that, It includes a control module for performing the method as described in any one of claims 1 to 6.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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