A ground marking system, a ground marking construction method, a topology map construction method, a robot movement method, a device, and a mobile robot.

Abstract

This application provides a ground marker, a ground marker construction method, a topology map construction method, a robot movement method, a device, and a mobile robot. The ground marker includes: a main structure and point attribute sub-markers; the point attribute sub-markers are disposed on the first surface of the main structure, and when scanned by the mobile robot, they enable the mobile robot to read the direction represented by the point attribute sub-markers, or, direction and function; the first surface of the main structure has visual elements corresponding to the content represented by the point attribute sub-markers; a positioning information area is also provided on the first surface of the main structure; the positioning information area cooperates with the positioning information sub-markers, so that the positioning information sub-markers are detachably disposed within the positioning information area, and when scanned by the mobile robot, they enable the mobile robot to read the position coordinates represented by the positioning information sub-markers. This improves the utilization rate of the ground markers.

Description

Technical Field

[0001] This application relates to the field of industrial mobile robot technology, and in particular to a ground marking, a ground marking construction method, a topology map construction method, a robot movement method, a device, and a mobile robot. Background Technology

[0002] Current industrial mobile robots (hereinafter referred to as mobile robots) primarily perform cargo handling tasks, and these robots require a topological map of the task area to perform their handling tasks. Currently, the topological map of the task area is typically constructed using the following method: an operator controls a mobile robot equipped with a LiDAR scanner to scan the environment of the task area; based on the images obtained from the LiDAR scan, a 3D model of the task area is reconstructed to obtain a navigation map; then, a topological map of the task area is constructed based on the buildings in the navigation map and the connections between them.

[0003] The area where mobile robots operate (i.e., the task area) is usually marked with various warning signs, such as safety passages and hazard warnings. However, during the process of building the topology map, mobile robots cannot utilize these warning signs, resulting in low utilization of the signs in the task area. Furthermore, there may be situations where beacons used for navigation by mobile robots coexist with these warning signs, making the marking of signs in the task area cumbersome and messy, increasing the difficulty of working in the task area and reducing work efficiency. Summary of the Invention

[0004] The purpose of this application is to provide a ground marking system, a ground marking construction method, a topology map construction method, a robot movement method, a device, and a mobile robot, so as to improve the utilization rate of ground markings in the target task area and make the markings in the task area concise and orderly, thereby improving work efficiency. The specific technical solution is as follows:

[0005] In a first aspect, embodiments of this application provide a ground marker, which includes a main structure and point attribute sub-markers;

[0006] The point attribute sub-identifier is set on the first surface of the main structure. The point attribute sub-identifier is used to enable the mobile robot to read the direction represented by the point attribute sub-identifier, or the direction and function, when scanned by the mobile robot.

[0007] The first surface of the main structure has a visual element corresponding to the content represented by the point attribute sub-identifier, wherein the visual element includes at least one of outline, pattern and color, and different content corresponds to different visual elements;

[0008] A positioning information area is also provided on the first surface of the main structure;

[0009] The positioning information area is used to cooperate with the positioning information sub-identifier so that the positioning information sub-identifier can be detachably set in the positioning information area. When the positioning information sub-identifier is scanned by the mobile robot, the mobile robot can read the position coordinates represented by the positioning information sub-identifier.

[0010] In one possible embodiment, the first surface of the main structure is further provided with an operating rule area;

[0011] The operation rule area is used to cooperate with the operation rule sub-identifier so that the operation rule sub-identifier can be detachably set in the operation rule area. When the operation rule sub-identifier is scanned by the mobile robot, the mobile robot can read the operation rule represented by the operation rule sub-identifier.

[0012] In one possible embodiment, the direction represented by the point attribute sub-identifier is n different first directions, where n is an integer greater than 1;

[0013] The number of the operation rule areas is n, the number of the point attribute sub-identifiers is n, and the n operation rule areas are respectively set in different first directions of the positioning information area, and the n point attribute sub-identifiers are respectively set in different first directions of the positioning information area.

[0014] In one possible embodiment, the direction represented by the point attribute sub-identifier is n different first directions, where n is an integer greater than 1;

[0015] The number of the positioning information area is 1, and the number of the point attribute sub-identifiers is n, with the n point attribute sub-identifiers respectively set in different first directions of the positioning information area.

[0016] In one possible embodiment, the number of the positioning information areas is one, and it is located at the geometric center of the first surface.

[0017] Secondly, this application also provides a method for constructing ground markings, the method comprising:

[0018] For each physical node in the target task area, determine all possible running directions of the mobile robot when it is at the physical node, or determine all possible running directions of the mobile robot when it is at the physical node and the functions of the physical node, as the node content corresponding to the physical node;

[0019] For each physical node, according to the node content corresponding to the physical node, a ground marker as described in the first aspect above is set on the physical node, wherein the content represented by the point attribute sub-marker in the ground marker set for each physical node is the same as the node content corresponding to the physical node, and each ground marker is set on each physical node in a manner in which the first side faces away from the ground.

[0020] For each physical node, a positioning information sub-identifier representing the location coordinates of the physical node is set in the positioning information area of ​​the ground marker at the physical node.

[0021] In one possible embodiment, each ground marker includes one positioning information area and m point attribute sub-markers, where m is the number of directions represented by the point attribute sub-markers in the ground marker; and the m point attribute sub-markers are respectively set in different directions of the positioning information area.

[0022] In one possible embodiment, the first surface of the main structure of each of the ground markings is further provided with an operating rule area;

[0023] The method further includes:

[0024] For each physical node, determine the operating rules that the mobile robot must follow after arriving at the physical node, and use them as the operating rules corresponding to the physical node;

[0025] For each physical node, the sub-identifier of the operation rule corresponding to the physical node is set in the operation rule area of ​​the ground identifier at the physical node.

[0026] In one possible embodiment, setting the operation rule sub-identifier representing the operation rule corresponding to the physical node in the operation rule area of ​​the ground identifier at the physical node includes:

[0027] If the operating rules corresponding to the physical node are different from the operating rules corresponding to the upstream node of the physical node, then the operating rule sub-identifier representing the operating rules corresponding to the physical node is set in the operating rule area of ​​the ground identification at the physical node, wherein the upstream node is the node that the mobile robot previously reached before reaching the physical node.

[0028] In one possible embodiment, each ground marker includes m operating rule areas and m point attribute sub-markers, where m is the number of directions represented by the point attribute sub-markers in the ground marker; and the m operating rule areas are respectively set in different directions of the positioning information area;

[0029] The determination of the operating rules that the mobile robot must follow after arriving at the physical node, as the operating rules corresponding to the physical node, includes:

[0030] For each possible running direction of the mobile robot at the physical node, determine the running rules that the mobile robot must follow when moving in the running direction after reaching the physical node, and use these as the running rules corresponding to the physical node and the running direction;

[0031] The step of setting the sub-identifier of the operation rule corresponding to the physical node in the operation rule area of ​​the ground identifier at the physical node includes:

[0032] For each running direction, a running rule sub-identifier representing the running rule corresponding to the physical node and the running direction is set in the target running rule area of ​​the ground identifier at the physical node, wherein the target running rule area is the running rule area in the running direction located in the positioning information area of ​​the ground identifier.

[0033] Thirdly, embodiments of this application also provide a topology map construction method applied to a mobile robot, wherein the mobile robot is deployed in a target task area, and the target task area has been pre-constructed according to any of the ground marking construction methods described in the second aspect above, the method comprising:

[0034] The location information sub-identifiers and point attribute sub-identifiers of the ground markers set at all physical nodes in the target task area are scanned respectively to obtain the position coordinates represented by each location information sub-identifier and the direction represented by each point attribute sub-identifier;

[0035] Based on the information obtained from the scan, a topological map of the target task area is constructed so that the mobile robot can perform tasks according to the topological map;

[0036] The topology map includes multiple map nodes and multiple edges. Each map node corresponds to a different physical node and is used to represent the location coordinates represented by the positioning information sub-identifier set at the corresponding physical node. The edges of each map node are used to represent the direction represented by the point attribute sub-identifier set at the corresponding physical node.

[0037] In one possible embodiment, the step of scanning the location information sub-identifiers and point attribute sub-identifiers of the ground markers set at all physical nodes in the target task area to obtain the position coordinates represented by each location information sub-identifier and the direction represented by each point attribute sub-identifier includes:

[0038] The location information sub-identifiers and point attribute sub-identifiers of the ground markers set at all physical nodes in the target task area are scanned respectively to obtain the location coordinates represented by each location information sub-identifier, as well as the direction and function represented by each point attribute sub-identifier;

[0039] The map nodes in the topology map are also used to represent the functions represented by the point attribute sub-identifiers set at the corresponding physical nodes.

[0040] In one possible embodiment, the step of scanning the location information sub-identifiers and point attribute sub-identifiers of the ground markers set at all physical nodes in the target task area to obtain the position coordinates represented by each location information sub-identifier and the direction represented by each point attribute sub-identifier includes:

[0041] Scan the positioning information sub-identifier of the ground marker set at the first physical node of the target task area, and obtain the position coordinates represented by the positioning information sub-identifier as the first position;

[0042] Scan the sub-identifiers of the ground markers at the current physical node to obtain the direction represented by the sub-identifiers, which is used as the first running direction. The current physical node is initially the first physical node.

[0043] For each of the first running directions, run along the first running direction to the next physical node, which becomes the second physical node;

[0044] For each second physical node, the positioning information sub-identifier of the ground marker set at the second physical node is scanned to obtain the position coordinates represented by the positioning information sub-identifier, which is used as the second position of the second physical node;

[0045] Select a node from the second physical nodes that has not been the current physical node, and use it as the new current physical node. Then return to the step of scanning the point attribute sub-identifier of the ground identifier at the current physical node until there is no second physical node that has not been the current physical node.

[0046] The step of constructing a topological map of the target task area based on the information obtained from the scan includes:

[0047] In response to the step of scanning the location information sub-identifier of the ground marker set at the first physical node of the target task area and obtaining the location coordinates represented by the location information sub-identifier as the first location, a first map node for representing the first location is generated in the topology map of the target task area.

[0048] In response to the step of scanning the location information sub-identifier of the ground marker set at the second physical node for each second physical node, and obtaining the location coordinates represented by the location information sub-identifier as the second location of the second physical node, for each second physical node, a second map node is generated in the topology map to represent the second location of the second physical node, and an edge is generated from the current map node to the second map node, wherein the current map node is a map node used to represent the location coordinates of the current physical node.

[0049] In one possible embodiment, the step of generating a second map node in the topology map to represent the second location of the second physical node for each second physical node, and generating an edge from the current map node to the second map node, includes:

[0050] For each second physical node, find a second map node in the topology map to represent the second location of the second physical node;

[0051] If a second map node is found, an edge is generated in the topology map pointing from the current map node to the found second map node;

[0052] If the second map node is not found, a second map node is generated in the topology map to represent the second location of the second physical node, and an edge is generated from the current map node to the second map node.

[0053] In one possible embodiment, before selecting a node from the second physical nodes that has not been a current physical node as the new current physical node, the method further includes:

[0054] For each second physical node, if the explored node set does not contain the second physical node, the second physical node is added to the node set to be explored. The explored node set is initially an empty set, and the node set to be explored initially includes the first physical node.

[0055] After generating a second map node in the topology map to represent the second location of the second physical node for each second physical node, and generating an edge pointing from the current map node to the second map node, the method further includes:

[0056] Remove the current physical node from the set of nodes to be explored, and add the current physical node to the set of explored nodes;

[0057] The step of selecting a node from the second physical nodes that has not been the current physical node as the new current physical node, and returning to execute the step of scanning the point attribute sub-identifiers of the ground markers at the current physical node, until there are no second physical nodes that have not been the current physical node, includes:

[0058] Select a node from the set of nodes to be explored as the new current physical node, and return to the step of scanning the point attribute sub-identifier of the ground identifier at the current physical node, until the set of nodes to be explored is empty.

[0059] Fourthly, embodiments of this application also provide a robot movement method applied to a mobile robot, wherein the mobile robot is deployed in a target task area, and the target task area has been pre-constructed according to any of the ground marking construction methods described in the second aspect above, the method comprising:

[0060] In response to the first task instruction, the positioning information sub-identifier of the ground marker set at the third physical node of the target task area is scanned to obtain the position coordinates represented by the positioning information sub-identifier as the third position, wherein the third physical node is the physical node where the mobile robot itself is located.

[0061] In the topology map of the target task area, a map node representing the third location is found as the third map node, and a fourth map node indicated by the first task instruction is found, wherein the topology map is constructed according to any of the topology map construction methods described in the third aspect above.

[0062] Based on the topological relationships between the map nodes in the topological map, the running route from the third map node to the fourth map node is planned and the operation is carried out according to the running route.

[0063] In one possible embodiment, each ground marker further includes an operation rule area, which is used to cooperate with operation rule sub-markers so that the operation rule sub-markers can be detachably disposed in the operation rule area;

[0064] The operation according to the stated route includes:

[0065] The system runs along the route according to the target operating rules until it reaches the next physical node. The target operating rules are initially preset operating rules, or the operating rules represented by the sub-identifier of the operating rules in the operating rule area marked on the ground at the third physical node.

[0066] If the ground identifier of the physical node to which the operation is run has a running rule sub-identifier, then scan the running rule sub-identifier to obtain the running rule represented by the running rule sub-identifier, and use the obtained running rule as the new target running rule;

[0067] Return to the step of running along the running route according to the target running rules until the physical node reached is the end point of the running route.

[0068] Fifthly, embodiments of this application also provide a topology map construction device applied to a mobile robot, the mobile robot being deployed in a target task area, the target task area having been pre-constructed according to any of the ground marking construction methods described in the second aspect above, the device comprising:

[0069] The identification scanning module is used to scan the positioning information sub-identifiers and point attribute sub-identifiers of the ground identifications set at all physical nodes in the target task area, respectively, to obtain the position coordinates represented by each positioning information sub-identifier and the direction represented by each point attribute sub-identifier;

[0070] The map building module is used to build a topological map of the target task area based on the information obtained from scanning, so that the mobile robot can perform tasks according to the topological map;

[0071] The topology map includes multiple map nodes and multiple edges. Each map node corresponds to a different physical node and is used to represent the location coordinates represented by the positioning information sub-identifier set at the corresponding physical node. The edges of each map node are used to represent the direction represented by the point attribute sub-identifier set at the corresponding physical node.

[0072] Sixthly, embodiments of this application also provide a robot mobility device applied to a mobile robot, the mobile robot being deployed in a target task area, the target task area having been pre-constructed according to any of the ground marking construction methods described in the second aspect above, the device comprising:

[0073] The location acquisition module is used to respond to the first task instruction, scan the positioning information sub-identifier of the ground marker set at the third physical node of the target task area, and obtain the position coordinates represented by the positioning information sub-identifier as the third position, wherein the third physical node is the physical node where the mobile robot itself is located.

[0074] The map node lookup module is used to find a map node representing the third location in the topology map of the target task area, as the third map node, and to find the fourth map node indicated by the first task instruction, wherein the topology map is constructed according to any of the topology map construction methods described in the third aspect above.

[0075] The route planning module is used to plan the route from the third map node to the fourth map node based on the topological relationship between each map node in the topological map, and to run according to the route.

[0076] Seventhly, embodiments of this application also provide a mobile robot, including:

[0077] Scanner, used to scan ground markings;

[0078] Memory, used to store computer programs;

[0079] The processor, when executing a program stored in memory, implements the topology map construction method described in the third aspect or the robot movement method described in the fourth aspect.

[0080] Eighthly, embodiments of this application also provide a computer program product containing instructions that, when run on a computer, cause the computer to execute the topology map construction method described in the third aspect or the robot movement method described in the fourth aspect.

[0081] Beneficial effects of the embodiments in this application:

[0082] This application provides a ground marker, a ground marker construction method, a topology map construction method, a robot movement method, a device, and a mobile robot. By setting point attribute sub-markers on the first surface of the main structure of the ground marker, the mobile robot stores all possible running directions of each physical node in the target task area, or all possible running directions and the functions of each physical node. This allows the mobile robot to obtain the direction represented by the point attribute sub-marker, or the direction and function, by scanning the point attribute sub-markers. In other words, it obtains all possible running directions of the mobile robot in the target task area, or all possible running directions and the functions of each physical node. Furthermore, a positioning information area is also provided on the first surface of the main structure. The positioning information area is used to cooperate with the positioning information sub-identifiers so that the positioning information sub-identifiers can be detachably set in the positioning information area. This allows the mobile robot to read the position coordinates represented by the positioning information sub-identifiers by scanning them, which is to obtain the position coordinates of each physical node in the target task area. As a result, the mobile robot can construct a topological map in the target task area based on the position coordinates represented by the obtained positioning information sub-identifiers and the direction represented by the point attribute sub-identifiers, or the direction and function, which improves the utilization rate of the ground markers in the target task area.

[0083] Furthermore, since the first surface of the main structure has visual elements corresponding to the content represented by the point attribute sub-identifiers, the visual elements include at least one of outline, pattern and color. Different content corresponds to different visual elements. Therefore, by using the visual elements corresponding to the content represented by the point attribute sub-identifiers, the ground signs can serve both a reminder or warning function, making the form of the ground signs in the target task area more neat and uniform. This also makes the ground signs set in the target task area concise and orderly, thereby improving work efficiency.

[0084] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0085] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0086] Figure 1 This is a schematic diagram of a scenario where a reminder sign is pasted in the existing technology;

[0087] Figure 2a This is a first schematic diagram of ground markings provided in an embodiment of this application;

[0088] Figure 2b A second schematic diagram of ground markings provided in the embodiments of this application;

[0089] Figure 2c This is a third schematic diagram of ground markings provided in the embodiments of this application;

[0090] Figure 2d This is a fourth schematic diagram of ground markings provided in the embodiments of this application;

[0091] Figure 2e A fifth schematic diagram of ground markings provided in the embodiments of this application;

[0092] Figure 2f A sixth schematic diagram of ground markings provided in the embodiments of this application;

[0093] Figure 2g A seventh schematic diagram of ground markings provided in the embodiments of this application;

[0094] Figure 3a A schematic diagram illustrating a ground marker for charging, provided in an embodiment of this application;

[0095] Figure 3b A schematic diagram illustrating the function of ground markers for work points provided in this application embodiment;

[0096] Figure 3c A schematic diagram illustrating the function of ground markings for shelf storage locations provided in this application embodiment;

[0097] Figure 3d A schematic diagram illustrating the function of ground markings for queuing positions provided in this application embodiment;

[0098] Figure 3e A schematic diagram illustrating the function of ground markings for parking spaces provided in this application embodiment;

[0099] Figure 3f A schematic diagram illustrating a ground marker for a repair point, provided in an embodiment of this application;

[0100] Figure 4a An eighth schematic diagram of ground markings provided in the embodiments of this application;

[0101] Figure 4b A ninth schematic diagram of ground markings provided in the embodiments of this application;

[0102] Figure 4c A tenth schematic diagram of ground markings provided in the embodiments of this application;

[0103] Figure 5 A schematic flowchart of a ground marking construction method provided in this application embodiment;

[0104] Figure 6a Another schematic diagram of the ground marking construction method provided in the embodiments of this application;

[0105] Figure 6b This is a schematic diagram illustrating a method for determining the location of a pasted positioning information sub-identifier provided in an embodiment of this application.

[0106] Figure 7 A flowchart illustrating the topology map construction method provided in this application embodiment;

[0107] Figure 8 A schematic diagram of a topology map provided in an embodiment of this application;

[0108] Figure 9 Another flowchart illustrating the topology map construction method provided in this application embodiment;

[0109] Figure 10 This is another flowchart illustrating the topology map construction method provided in an embodiment of this application;

[0110] Figure 11 This is another flowchart illustrating the topology map construction method provided in an embodiment of this application.

[0111] Figure 12 A schematic diagram illustrating another method for constructing a topology map provided in this application embodiment;

[0112] Figure 13 This is a schematic flowchart of a robot movement method provided in an embodiment of this application;

[0113] Figure 14 Another flowchart illustrating the robot movement method provided in this application embodiment;

[0114] Figure 15 A schematic diagram of the topology map building apparatus provided in this application embodiment;

[0115] Figure 16 This is a schematic diagram of the structure of a robot mobile device provided in an embodiment of this application;

[0116] Figure 17 This is a schematic diagram of a mobile robot provided in an embodiment of this application. Detailed Implementation

[0117] 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, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0118] To more clearly explain the ground marking, ground marking construction method, topology map construction method, robot movement method, device, and mobile robot provided in this application, some terms appearing in this document will be explained below:

[0119] Industrial mobile robots: Industrial mobile robots are commonly used in industrial settings to perform goods handling tasks. They are also known as AGVs (Automated Guided Vehicles) and AMRs (Adaptive Multi-Rate Robots). For ease of description, this article will refer to them as mobile robots.

[0120] SLAM (Simultaneous Localization and Mapping): SLAM is a navigation technique in the field of robotics. SLAM refers to the process by which a mobile robot moves from an unknown location in an unknown environment, performs self-localization based on position estimation and a map during its movement, and simultaneously builds an incremental map based on its self-localization, thereby achieving autonomous localization and navigation for the mobile robot.

[0121] Topology map: A topology map is a map consisting of nodes and directed edges that guides the movement of a mobile robot.

[0122] Raster map: A raster map refers to a map that divides the environment into a series of grids, where each grid is given a possible value, representing the probability that the grid is occupied by an obstacle.

[0123] 5S: 5S refers to SEIRI (Sort), SEITON (Set in order), SEISO (Sweep), SEIKETSU (Standardize), and SHITSUKE (Sustain). The purpose of 5S is to ensure work safety, improve work efficiency, reduce work costs, guarantee work quality, create a clean and orderly work environment, and prioritize prevention of quality defects and accidents.

[0124] To more clearly illustrate the ground markings provided in this application, the following will provide illustrative examples of possible application scenarios for the ground markings provided in this application. It should be understood that the following examples are only possible application scenarios for the ground markings provided in this application. In other possible embodiments, the ground markings provided in this application can be applied to other possible application scenarios, and the following examples do not impose any limitations on this.

[0125] When deploying a mobile robot system to a specific task area to enable it to perform its intended function, the mobile robot first needs to obtain a topological map or grid map of the task area before it can perform handling tasks (i.e., achieve its intended function) within the task area based on the topological map or grid map. The intended function of the mobile robot generally refers to goods handling. The following section will use a topological map as an example to illustrate possible application scenarios of this application.

[0126] Currently, the following method is commonly used to construct a topology map of a task area: Operators control a mobile robot equipped with LiDAR to scan the environment of the task area. Based on the images obtained from the LiDAR scans, a 3D model of the task area is reconstructed, resulting in a navigation map of the task area. This navigation map is constructed using beacons such as QR codes or SLAM technology. Then, a topology map of the task area is constructed based on the buildings in the navigation map and the connections between them. After the topology map is constructed, the upper-level business system can assign transport tasks to the mobile robot. The mobile robot plans its route based on the topology map according to the received task, thereby completing the transport task.

[0127] Modern production lines typically emphasize 5S (Sort, Set in order, Set in order), usually placing various warning signs, such as safety exits and hazard warnings, in the areas where mobile robots operate (i.e., task areas). These warning signs are more environmentally friendly than the beacons used for robot navigation, appearing more natural. However, in the process of building the topology map, mobile robots cannot utilize these warning signs, and there are situations where beacons used for robot navigation and these warning signs coexist. Warning signs can be used in ways such as... Figure 1 As shown in the rectangle, the labels in the task area are pasted in a cluttered manner and have low utilization.

[0128] Based on this, in order to improve the utilization rate of ground markings in the target mission area, this application provides a ground marking system, see [link to relevant documentation]. Figure 2a Ground markings include the main structure 21 and the location attribute sub-markers 22;

[0129] The point attribute sub-identifier 22 is set on the first surface of the main structure 21. The point attribute sub-identifier 22 is used to enable the mobile robot to read the direction represented by the point attribute sub-identifier 22, or the direction and function, when scanned by the mobile robot.

[0130] The first face of the main structure 21 has visual elements corresponding to the content represented by the point attribute sub-identifier 22. The visual elements include at least one of outline, pattern and color. Different content corresponds to different visual elements.

[0131] A positioning information area 23 is also provided on the first surface of the main structure 21;

[0132] The positioning information area 23 is used to cooperate with the positioning information sub-identifier so that the positioning information sub-identifier can be detachably set in the positioning information area 23. When the positioning information sub-identifier is scanned by the mobile robot, the mobile robot can read the position coordinates represented by the positioning information sub-identifier.

[0133] By applying the embodiments of this application, point attribute sub-identifiers are set on the first surface of the main structure including the ground marker to store all possible running directions of the mobile robot at each physical node in the target task area, or all possible running directions and the functions of each physical node. This allows the mobile robot to obtain the direction represented by the point attribute sub-identifier, or the direction and function, by scanning the point attribute sub-identifiers. In other words, it obtains all possible running directions of the mobile robot at each physical node in the target task area, or all possible running directions and the functions of each physical node. Furthermore, a positioning information area is also provided on the first surface of the main structure. The positioning information area is used to cooperate with the positioning information sub-identifiers so that the positioning information sub-identifiers can be detachably set in the positioning information area. This allows the mobile robot to read the position coordinates represented by the positioning information sub-identifiers by scanning them, which is to obtain the position coordinates of each physical node in the target task area. As a result, the mobile robot can construct a topological map in the target task area based on the position coordinates represented by the obtained positioning information sub-identifiers and the direction represented by the point attribute sub-identifiers, or the direction and function, which improves the utilization rate of the ground markers in the target task area.

[0134] Furthermore, since the first surface of the main structure has visual elements corresponding to the content represented by the point attribute sub-identifiers, the visual elements include at least one of outline, pattern and color. Different content corresponds to different visual elements. Therefore, by using the visual elements corresponding to the content represented by the point attribute sub-identifiers, the ground signs can serve both a reminder or warning function, making the form of the ground signs in the target task area more neat and uniform. This also makes the ground signs set in the target task area concise and orderly, thereby improving work efficiency.

[0135] The first side of the main structure 21 refers to any side of the ground marking.

[0136] The area defined by the location attribute sub-identifier 22 can be called the location attribute area. The location attribute sub-identifier 22 can be displayed in any form, such as a barcode, QR code, character, or custom coded graphic. Custom coded graphics can better integrate the ground markings with the environment of the target task area, making the ground markings less obtrusive and more natural to the eye. For ease of description, the direction represented by the location attribute sub-identifier 22, or the direction and function, will be referred to as the content represented by the location attribute sub-identifier 22 in the following text.

[0137] If the location attribute sub-identifier 22 is a barcode or QR code, the mobile robot can decode it using a corresponding decoding algorithm after scanning it to obtain the content represented by the location attribute sub-identifier 22. If the location attribute sub-identifier 22 is a character, it can be obtained by directly printing the content it needs to represent. After scanning it, the mobile robot can recognize it using an OCR (Optical Character Recognition) algorithm to obtain the content it represents. If the location attribute sub-identifier 22 is a custom-coded graphic, it can be obtained by drawing the content it needs to represent into an image using a special encoding method. After scanning it, the mobile robot can decode it using the decoding method corresponding to the special encoding method to obtain the content it represents.

[0138] The direction represented by point attribute sub-identifier 22 refers to all possible running directions of the mobile robot at the physical node where the ground marker including point attribute sub-identifier 22 needs to be set. Point attribute sub-identifier 22 can represent one or more directions. For example, if the mobile robot can only reach physical node B along direction 1 from physical node A, then the direction represented by point attribute sub-identifier 22 is: direction 1. If the mobile robot can reach physical node B along direction 1 and also reach physical node C along direction 2 from physical node A, then the directions represented by point attribute sub-identifier 22 are: direction 1 and direction 2.

[0139] The function represented by the location attribute sub-identifier 22 refers to the function of the physical node set by the ground identifier including the location attribute sub-identifier 22. The function may include any one or more functions such as queuing position, shelf storage position, charging position, work position, maintenance position, etc.

[0140] If the location attribute sub-identifier 22 represents direction and function, in one possible embodiment, the location attribute sub-identifier 22 may include two identifiers: a first location attribute sub-identifier and a second location attribute sub-identifier, wherein the first location attribute sub-identifier is used to represent direction, and the second location attribute sub-identifier is used to represent function. In another possible embodiment, the location attribute sub-identifier 22 includes only one sub-identifier, which is used to represent both direction and function. The following description will exemplify the ground markings provided in this application by using the example of the location attribute sub-identifier 22 representing both direction and function and including only one sub-identifier.

[0141] See Figure 2a As shown, a positioning information area 23 is also provided on the first surface of the main structure 21, and a positioning information sub-identifier is detachably provided in the positioning information area 23. For example, the point attribute sub-identifier can be set in the positioning information area 23 by pasting the positioning information sub-identifier into the positioning information area 23 of the ground sign, and the point attribute sub-identifier can be detached from the positioning information area 23 of the ground sign by peeling the positioning information sub-identifier from the positioning information area 23 of the ground sign. The positioning information sub-identifier can be displayed in any form such as a barcode, QR code, character, or custom coded graphic. The method of generating the positioning information sub-identifier is the same as the method of generating the point attribute sub-identifier described above. The method by which the mobile robot reads the position coordinates represented by the positioning information sub-identifier is the same as the method by which it reads the content represented by the point attribute sub-identifier. Please refer to the relevant description above, which will not be repeated here.

[0142] The different directions represented by the point attribute sub-identifier 22 result in different visual elements on the first surface of the main structure 21. These visual elements on the first surface of the main structure 21 can also be considered as the visual appearance of the ground markings. For example, see... Figure 2a As shown, Figure 2a The direction indicated by the midpoint attribute sub-identifier 22 is forward. Correspondingly, the outline of the first surface of the main structure 21 consists of two superimposed arrows (hereinafter referred to as direction arrows). The inner arrow of the direction arrow is superimposed on the outer arrow. The outer arrow has no fill, while the inner arrow is filled with a horizontal line. In other possible embodiments, colors can also be used to distinguish the outer and inner arrows in the direction arrow. For example, the outer arrow is filled with yellow, and the inner arrow is filled with green. Furthermore, the text "AGV Channel" can be set in the inner arrow to further demonstrate the directional function of the ground marking. The setting method of the inner and outer arrows in the direction arrow in the following text is similar to the above setting method and will not be repeated below.

[0143] In another possible embodiment, the outline of the first surface of the main structure 21 can also be any shape such as a rectangle. The following description will use the outline of the first surface of the main structure 21 as an example of a directional arrow to illustrate the ground markings provided in this application.

[0144] Ground markings can also be seen Figure 2b , Figure 2c , Figure 2d , Figure 2e , Figure 2f , Figure 2g As shown. Figure 2b In the middle, the direction indicated by the point attribute sub-identifier 22 is forward and right turn. Correspondingly, the outline of the first face of the main structure 21 is an upward arrow and a rightward arrow. Figure 2c In the diagram, the direction indicated by the point attribute sub-identifier 22 is forward, forward to the left, and forward to the right. Correspondingly, the outline of the first face of the main structure 21 is an arrow pointing upward, an arrow pointing to the forward to the left, and an arrow pointing to the forward to the right. Figure 2d In the text, the direction represented by the point attribute sub-identifier 22 is forward and backward, or... Figure 2d The point attribute sub-identifier 22 shown is flipped 90° to the right. The direction represented by the point attribute sub-identifier 22 can also be left turn or right turn. Correspondingly, the outline of the first face of the main structure 21 is an upward arrow and a downward arrow. Figure 2eIn the middle, the direction indicated by the point attribute sub-identifier 22 is forward and to the right front. Correspondingly, the outline of the first face of the main structure 21 is an upward arrow and a right front arrow. Figure 2f In the diagram, the direction represented by the point attribute sub-identifier 22 is forward, left turn, and right turn. Correspondingly, the outline of the first face of the main structure 21 is an arrow pointing upward, an arrow pointing to the left, and an arrow pointing to the right. Figure 2g In the middle, the direction represented by the point attribute sub-identifier 22 is forward, left turn, right turn and backward. Correspondingly, the outline of the first face of the main structure 21 is an arrow pointing upward, an arrow pointing to the left, an arrow pointing to the right and an arrow pointing downward.

[0145] The different functions represented by the point attribute sub-identifier 22 result in different visual elements on the first surface of the main structure 21. For example, see... Figure 3a As shown, Figure 3a The function represented by the midpoint attribute sub-identifier 22 is charging. The outline of the first surface of the main structure 21 is a rectangle filled with diagonal lines, and the first surface of the main structure 21 is provided with a pattern for indicating charging, which includes a black-filled portion. In another possible embodiment, the outline of the first surface of the main structure 21 can also be a rectangle filled with green and having a yellow border, and the first surface of the main structure 21 is provided with a pattern for indicating charging, in which the black-filled portion can be replaced with a green-filled portion.

[0146] See Figure 3b As shown, Figure 3b The function represented by the midpoint attribute sub-identifier 22 is a working point. The outline of the first surface of the main structure 21 is a rectangle filled with diagonal lines, and the first surface of the main structure 21 is provided with a pattern for representing the working point, which includes a black-filled portion. In another possible embodiment, the outline of the first surface of the main structure 21 can also be a rectangle filled with purple and having a yellow border, and the first surface of the main structure 21 is provided with a pattern for representing the working point, in which the black-filled portion can be replaced with a purple-filled portion.

[0147] See Figure 3c As shown, Figure 3c The function represented by the midpoint attribute sub-identifier 22 is a shelf storage location. The outline of the first surface of the main structure 21 is a rectangle filled with diagonal lines, and the first surface of the main structure 21 is provided with a pattern for representing the shelf storage location. This pattern includes a black filled part and a barcode (i.e., Figure 3cThe outer border 31 of sub-identifiers such as barcodes, QR codes, and custom coded graphics is a black border. In another possible embodiment, the outline of the first surface of the main structure 21 can also be a rectangle filled with white and having a blue border, and the first surface of the main structure 21 is provided with a pattern for indicating shelf storage location. The black-filled part of the pattern can also be replaced with blue fill, and the border 31 can also be replaced with a blue border. The blue in this example can refer to blue of the same depth or blue of different depths.

[0148] See Figure 3d As shown, Figure 3d The function represented by the midpoint attribute sub-identifier 22 is a queuing position. The outline of the first face of the main structure 21 is a rectangle filled with diagonal lines, and the first face of the main structure 21 has a pattern for representing the queuing position. This pattern includes a black-filled portion, and the outer border 32 of the sub-identifiers such as barcodes, QR codes, and custom-coded graphics is a black border. In another possible embodiment, the outline of the first face of the main structure 21 can also be a rectangle filled with white and has a green border, and the first face of the main structure 21 has a pattern for representing the queuing position. The black-filled portion of this pattern can be replaced with green, and the border 31 can also be replaced with a green border. In this example, green can refer to green of the same depth or green of different depths.

[0149] See Figure 3e As shown, Figure 3e The function represented by the midpoint attribute sub-identifier 22 is a parking space. The outline of the first face of the main structure 21 is a rectangle filled with diagonal lines, and the first face of the main structure 21 has a pattern for representing a parking space, which includes a black-filled portion. The outer border 33 of the sub-identifiers such as barcodes, QR codes, and custom-coded graphics is a black border. In another possible embodiment, the outline of the first face of the main structure 21 can also be a rectangle filled with white and has a red border, and the first face of the main structure 21 has a pattern for representing a parking space. The black-filled portion of this pattern can be replaced with red, and the border 31 can also be replaced with a red border. In this example, the red can refer to red of the same depth or red of different depths.

[0150] See Figure 3f As shown, Figure 3fThe function represented by the midpoint attribute sub-identifier 22 is a repair point. The outline of the first face of the main structure 21 is a rectangle filled with diagonal lines, and the first face of the main structure 21 has a pattern for representing the repair point. This pattern includes a black-filled portion, and the outer border 34 of the sub-identifiers such as barcodes, QR codes, and custom-coded graphics is a black border. In another possible embodiment, the outline of the first face of the main structure 21 can also be a rectangle filled with white and having a red border, and the first face of the main structure 21 has a pattern for representing the repair point. The black-filled portion of this pattern can be replaced with red, and the border 31 can also be replaced with a red border. In this example, the red can refer to red of the same depth or red of different depths. It is understood that... Figures 3a-3f This is merely one possible example of the visual elements present on the first surface of the main structure 21 corresponding to different functions. The visual elements on the first surface of the main structure 21 can be set according to the user's needs. Setting the visual elements allows the ground markings to blend well with the scene of the target task area, making the ground markings appear less obtrusive.

[0151] If the point attribute sub-identifier 22 is only used to indicate direction, then the ground identifier is as follows: Figure 2a , Figure 2b , Figure 2c , Figure 2d , Figure 2e , Figure 2f , Figure 2g As shown; if the point attribute sub-identifier 22 is used to represent direction and function, then the ground identification can be as follows: Figure 2a , Figure 2b , Figure 2c , Figure 2d , Figure 2e , Figure 2f , Figure 2g As shown, the function of the physical nodes set up by the ground markings is not reflected, or it can be as follows: Figure 3a , Figure 3b , Figure 3c , Figure 3d , Figure 3e , Figure 3f As shown, this demonstrates the function of the physical nodes set up by the ground markings.

[0152] In one possible embodiment, the first surface of the main structure 21 is also provided with an operating rule area;

[0153] The operation rule area is used in conjunction with the operation rule sub-identifier so that the operation rule sub-identifier can be detachably set in the operation rule area. When the operation rule sub-identifier is scanned by the mobile robot, the mobile robot can read the operation rule represented by the operation rule sub-identifier.

[0154] See Figure 4a As shown, an operation rule area 24 is also provided on the first surface of the main structure 21, and an operation rule sub-identifier is detachably provided in the operation rule area 24. The way in which the operation rule sub-identifier is detachably provided in the operation rule area 24 is the same as the way in which the positioning information sub-identifier is detachably provided in the positioning information area 23, as described above, and will not be repeated here. Furthermore, the operation rule sub-identifier can be displayed in any form such as a barcode, QR code, character, or custom coded graphic. The way in which the operation rule sub-identifier is generated is the same as the way in which the point attribute sub-identifier is generated, and the way in which the mobile robot reads the operation rule represented by the operation rule sub-identifier is the same as the way in which it reads the content represented by the point attribute sub-identifier, as described above, and will not be repeated here.

[0155] The operation rule sub-identifier can refer to rules that restrict robot operation, such as speed limits, laser schemes, and obstacle avoidance distances. Besides representing operation rules, the operation rule sub-identifier can also represent extended information added by other users, allowing users to expand functionality according to their own needs.

[0156] See Figure 4b As shown, the three areas—location attribute sub-identifier 22, location information area 23, and operation rule area 24—can be combined into an information carrying area. Assuming that the location attribute sub-identifier 22, location information sub-identifier, and operation rule sub-identifier are all in the form of QR codes, then… Figure 4b QR code 1 is the sub-identifier for the operation rules, QR code 2 is the sub-identifier for the location information, and QR code 3 is the sub-identifier for the location attribute 22.

[0157] A complete ground marker containing the location information sub-identifier, the point attribute sub-identifier 22, and the operation rule sub-identifier can be pasted as follows: Figure 2b , Figure 2c , Figure 4c As shown. See also Figure 2b , Figure 2c , Figure 4c The operation rule area 24 has a barcode-style operation rule sub-identifier pasted on it, the location information area 23 has a QR code-style location information sub-identifier pasted on it, and the location attribute area has a custom-coded graphic (i.e., graphic) style location attribute sub-identifier 22 pasted on it. Figure 2d , Figure 2e , Figure 2f , Figure 2g , Figure 3a , Figure 3b , Figure 3c , Figure 3d , Figure 3e , Figure 3fIn the system, the operation rule sub-identifier is displayed in the form of a barcode, the location information sub-identifier is displayed in the form of a QR code, and the point attribute sub-identifier is displayed in the form of a custom coded graphic. Furthermore, to make the ground markings appear more natural, the colors and shapes of the markings within each area should be integrated with the ground markings as much as possible to reduce visual differentiation.

[0158] Specifically, in the ground markings provided in this application, the location attribute sub-identifiers in the information carrying area can be integrated with the main structure; that is, when pasting the ground markings, the main structure and the location attribute sub-identifiers are pasted together. Furthermore, since the operating rules and location coordinates need to be set according to different target task areas, and the operating rules for the same road segment may change over time, the positioning information area and operating rule area are separable from the main structure; that is, the positioning information sub-identifiers and operating rule sub-identifiers can be detachably set on the ground markings.

[0159] By using this embodiment, an operation rule area can be set on the first side of the main structure, allowing for the detachable placement of operation rule sub-identifiers within this area. The mobile robot can scan these sub-identifiers to obtain the operation rules they represent and operate accordingly. This method restricts the mobile robot's operation based on the operation rules indicated by the sub-identifiers, ensuring that the robot's operation within the target task area complies with regulations. Furthermore, the detachable placement of the operation rule sub-identifiers within the operation rule area allows users to easily modify the operation rules represented by these sub-identifiers, improving user convenience.

[0160] As explained above, the direction represented by the point attribute sub-identifier 22 can be one or more. Furthermore, it is understood that different directions may correspond to different operating rules. Therefore, to facilitate intuitive judgment of the robot's operating directions through ground markings and to set different operating rules for different operating directions, in one possible embodiment, the direction represented by the point attribute sub-identifier is n different first directions, where n is an integer greater than 1; the number of operating rule areas is n, the number of point attribute sub-identifiers is n, and the n operating rule areas are respectively set on different first directions of the positioning information area, and the n point attribute sub-identifiers are respectively set on different first directions of the positioning information area. The setting of the positioning attribute sub-identifier and the operating rule area will be described exemplarily below, and will not be repeated here.

[0161] Using this embodiment, point attribute sub-identifiers and operation rule areas can be set for different first directions. The operation rule area can contain operation rule sub-identifiers. By setting different operation rule sub-identifiers, different operation rules can be set for different first directions. If the operation rule corresponding to a certain first direction changes, only the operation rule sub-identifier in the operation rule area set for that first direction needs to be modified, without needing to modify the operation rule sub-identifiers for all first directions. This facilitates the modification of operation rules corresponding to different first directions. Furthermore, by setting n operation rule areas and n point attribute sub-identifiers respectively in different first directions of the positioning information area, users can determine the possible operating direction of the mobile robot at a certain physical node based on ground markings. This facilitates users in performing work tasks in the target task area and improves work efficiency.

[0162] In one possible embodiment, corresponding to Figure 2a The ground markings shown have n different first directions represented by the point attribute sub-markers, where n is an integer greater than 1; there is one location information area and n point attribute sub-markers, with the n point attribute sub-markers set in different first directions of the location information area.

[0163] In this embodiment, since the location of the ground marker is fixed, only one positioning information area can be set, and n point attribute sub-markers can be set in different first directions of the positioning information area, so that the user can determine the possible running direction at a certain physical node based on the ground marker, which facilitates the user to perform work tasks in the target task area and improves work efficiency.

[0164] Regarding the location of the positioning information area in the ground markings, in one possible embodiment, the number of positioning information areas is one, and it is located at the geometric center of the first surface.

[0165] In this embodiment, the location information area is set at the geometric center of the first side of the main structure. This ensures that the mobile robot can recognize the location information sub-identifier set in the location information area at the geometric center whenever it passes the physical node marked on the ground, regardless of which direction it moves from. This ensures that the mobile robot can identify its own location coordinates, making it convenient for users to schedule the mobile robot based on these coordinates.

[0166] See Figure 2cSince the location information sub-identifier is used to represent the location coordinates set by the ground identifier, the ground identifier at the same physical node can include only one location information sub-identifier to represent the location coordinates of the physical node where the ground identifier is set.

[0167] Specifically, the positioning information area, point attribute sub-identifiers, and operation rule area in the ground marking can be set in the following way: the positioning information area is set in the central area of ​​the ground marking, that is, at the geometric center of the first surface of the main structure; the number of point attribute sub-identifiers in the ground marking is the same as the number of first directions represented by the point attribute sub-identifiers, and all point attribute sub-identifiers in the same ground marking are the same; each point attribute sub-identifier corresponds to one of the first directions represented by the point attribute sub-identifier, different point attribute sub-identifiers correspond to different first directions, and the direction of each point attribute sub-identifier relative to the positioning information area is the same as or opposite to the corresponding first direction; the direction of each operation rule area relative to the positioning information area is the same as or opposite to the corresponding first direction.

[0168] Understandably, some areas within the target task region may not restrict the operation of the mobile robot. That is, if no operating rules need to be set for the mobile robot in a certain first direction at a certain physical node, then in that first direction at that physical node, operating rule sub-identifiers may not be set in the operating rule area, or the operating rules represented by the operating rule sub-identifiers may be set to empty. Therefore, even if the number of operating rule areas is the same as the number of first directions represented by point attribute sub-identifiers, the number of operating rule sub-identifiers may be the same as or different from the number of first directions represented by point attribute sub-identifiers. Different operating rule areas correspond to different first directions, but the operating rules corresponding to different first directions may be the same or different.

[0169] For example, see Figure 2c There are three possible running directions for a mobile robot at the physical node set by the ground marker, that is, there are three first directions: forward, left front, and right front. A point attribute sub-identifier is set for each of these three running directions. That is, each point attribute sub-identifier corresponds to one of the first directions represented by the point attribute sub-identifier, and different point attribute sub-identifiers correspond to different first directions.

[0170] Furthermore, since the location information area is fixedly located in the center of the ground marker, when setting the point attribute sub-markers, the direction of each point attribute sub-marker relative to the location information area is the same as or opposite to the corresponding first direction. See also Figure 2cWhen the first direction is forward, the point attribute sub-identifier is located behind the positioning information area, that is, the direction of the point attribute sub-identifier relative to the positioning information area is opposite to the corresponding first direction; when the first direction is forward to the left, the point attribute sub-identifier is located in front of the left of the positioning information area, that is, the direction of the point attribute sub-identifier relative to the positioning information area is the same as the corresponding first direction; when the first direction is forward to the right, the point attribute sub-identifier is located in front of the right of the positioning information area, that is, the direction of the point attribute sub-identifier relative to the positioning information area is the same as the corresponding first direction.

[0171] Taking the first direction as the forward direction as an example, the mobile robot moves from the rear of the positioning information area to the front of the positioning information area during operation. Therefore, during this process, regardless of whether the point attribute sub-identifier is located in front of or behind the positioning information area, that is, regardless of whether the direction of the point attribute sub-identifier relative to the positioning information area is the same as or opposite to the corresponding first direction, the mobile robot can scan the point attribute sub-identifier during operation and obtain the content represented by the point attribute sub-identifier. Therefore, when setting the position of the point attribute sub-identifier in the ground marking, the direction of each point attribute sub-identifier relative to the positioning information area is the same as or opposite to the corresponding first direction. For example, except Figure 2c In addition to the example shown, when the first direction is forward to the left, the point attribute sub-identifier can also be located to the right rear of the positioning information area.

[0172] When a mobile robot scans the sub-identifiers of the ground markers set at a physical node, it needs to obtain all possible running directions of the mobile robot at that physical node, that is, obtain all the first directions represented by the sub-identifiers of the ground markers. Since the function of the same physical node is the same, even if multiple sub-identifiers of the ground markers need to be set for multiple different first directions, the information contained in these multiple sub-identifiers of the ground markers is the same. That is, all sub-identifiers of the ground markers of the ground markers represent the same direction and the same function.

[0173] As explained above, location attribute sub-identifiers can be displayed in any form, such as barcodes, QR codes, characters, or custom coded graphics. Therefore, although all location attribute sub-identifiers within the same ground sign may represent the same direction and function, they can still be displayed in different forms. For example, suppose a ground sign includes two location attribute sub-identifiers: location attribute sub-identifier 1 and location attribute sub-identifier 2. Location attribute sub-identifier 1 can be displayed as a QR code, and location attribute sub-identifier 2 can be displayed as a barcode.

[0174] When setting the operation rule area, the direction of each operation rule area relative to the positioning information area is the same as or opposite to the corresponding first direction. See also Figure 2c When the first direction is forward, the operation rule area is located in front of the positioning information area, that is, the direction of the operation rule area relative to the positioning information area is the same as the corresponding first direction; when the first direction is left forward, the operation rule area is located to the left front of the positioning information area, that is, the direction of the operation rule area relative to the positioning information area is the same as the corresponding first direction; when the first direction is right forward, the operation rule area is located to the right front of the positioning information area, that is, the direction of the operation rule area relative to the positioning information area is the same as the corresponding first direction.

[0175] Taking the first direction as the forward direction as an example, the mobile robot moves from behind the positioning information area to in front of it during operation. Therefore, during this process, regardless of whether the operation rule area is in front of or behind the positioning information area, that is, regardless of whether the direction of the operation rule area relative to the positioning information area is the same as or opposite to the corresponding first direction, the mobile robot can scan the operation rule sub-identifiers set in the operation rule area during operation and obtain the information contained in the operation rule sub-identifiers. Therefore, when setting the position of the operation rule area in the ground markings, the direction of each operation rule area relative to the positioning information area is the same as or opposite to the corresponding first direction. For example, except... Figure 2c In addition to the example shown, when the first direction is forward to the left, the running rules area can also be located to the right and behind the positioning information area.

[0176] The ground markings provided in this application have been described above by way of example. Corresponding to the above-described ground markings, this application also provides a ground marking construction method, see [link to relevant documentation]. Figure 5 The methods include:

[0177] S501, for each physical node in the target task area, determine all possible running directions of the mobile robot when it is at the physical node, or determine all possible running directions of the mobile robot when it is at the physical node and the functions of the physical node, as the node content corresponding to the physical node.

[0178] The target task area is the area where the mobile robot operates when performing a task.

[0179] For example, if physical node A in the target task area is not functional, and the mobile robot can only reach physical node B along direction 1 from physical node A, then the node content corresponding to physical node A is: direction 1. If physical node A in the target task area is not functional, and the mobile robot can reach physical node B along direction 1 and also reach physical node C along direction 2 from physical node A, then the node content corresponding to physical node A is: direction 1 and direction 2.

[0180] If physical node A in the target task area has a charging function, and the mobile robot can only reach physical node B from physical node A along direction 1, then the node content corresponding to physical node A is: direction 1 and charging function. If physical node A in the target task area has a working point function, and the mobile robot can reach physical node B from physical node A along direction 1 and also reach physical node C along direction 2, then the node content corresponding to physical node A is: direction 1, direction 2, and working point function.

[0181] S502: For each physical node, ground markers are set on the physical nodes according to the node content corresponding to the physical nodes.

[0182] In this context, the content represented by the point attribute sub-identifier in the ground identifier set for each physical node is the same as the node content corresponding to the physical node, and each ground identifier is set at each physical node with the first side facing away from the ground.

[0183] For each physical node, generate based on the node content corresponding to the physical node. Figure 2a The ground marker shown has a point attribute sub-identifier whose content is identical to the node content corresponding to the physical node to which the ground marker needs to be set, and the generated ground marker is set at the physical node. The ground marker in S502 is the aforementioned... Figure 2a The ground markers in the illustrated embodiment. It is understood that in order for the mobile robot to scan the point attribute sub-markers and positioning information sub-markers in the ground markers, the first side of the ground marker containing the point attribute sub-markers and positioning information sub-markers needs to be facing away from the ground. Therefore, when setting ground markers at physical nodes, the ground markers are set at the physical nodes with the first side facing away from the ground.

[0184] S503, for each physical node, the positioning information sub-identifier representing the location coordinates of the physical node is set in the positioning information area of ​​the ground marker at the physical node.

[0185] Once the location coordinates of a physical node are determined, a location information sub-identifier can be generated based on the location coordinates of the physical node, and this location information sub-identifier can be set in the location information area of ​​the ground marker at that physical node.

[0186] As described above, in this embodiment, the ground markings provided in this application represent different visual elements corresponding to different point attribute sub-markers. This allows the ground markings to serve both a reminder and a warning function, meaning users can easily distinguish the function or direction corresponding to ground markings with different visual elements. Based on this, users can easily determine the visual elements of the ground markings required at each physical node according to the functional settings at different physical nodes, thus facilitating the installation of ground markings at each physical node and improving the efficiency of ground marking construction.

[0187] In one possible embodiment, each ground marker includes one positioning information area and m point attribute sub-markers, where m is the number of directions represented by the point attribute sub-markers in the ground marker; and the m point attribute sub-markers are respectively set in different directions of the positioning information area.

[0188] In this embodiment, a generator can be generated based on the node content corresponding to the physical node. Figure 2c The ground markers shown are as follows. Specifically, ground markers including multiple point attribute sub-markers can be generated directly based on the node content corresponding to the physical node. In this example, the generated ground markers can be directly pasted onto the physical node. Alternatively, multiple point attribute sub-markers can be generated separately. Figure 2c In the example shown, the main structure can be configured by first pasting multiple point attribute sub-identifiers into the point attribute area of ​​the main structure to obtain ground identifiers, and then pasting the ground identifiers to the physical nodes. Alternatively, the main structure can be pasted to the physical nodes first, and then multiple point attribute sub-identifiers can be pasted into the point attribute area of ​​the main structure to set ground identifiers at the physical nodes.

[0189] See Figure 4a The ground markings shown have an operating rules area on the first side of their main structure, which corresponds to... Figure 4a The ground marking method provided in this application further includes: for each physical node, determining the operating rules that the mobile robot needs to follow after arriving at the physical node, as the operating rules corresponding to the physical node; for each physical node, setting the operating rule sub-identifier representing the operating rules corresponding to the physical node in the operating rule area of ​​the ground marking at the physical node.

[0190] The operating rules that a mobile robot must follow after arriving at a physical node refer to the operating rules that a mobile robot must follow when running from that physical node along a certain direction.

[0191] Based on the operating rules corresponding to the physical node, an operating rule sub-identifier can be generated to represent the operating rules corresponding to the physical node, and this operating rule sub-identifier can be set in the operating rule area of ​​the ground identifier at the physical node.

[0192] As explained above, the direction represented by the point attribute sub-identifier can be one or more, and different directions may correspond to different operating rules. Therefore, multiple operating rule sub-identifiers need to be set at the same physical node. Based on this, in one possible embodiment, each ground identifier includes m operating rule areas and m point attribute sub-identifiers, where m is the number of directions represented by the point attribute sub-identifiers in the ground identifier; and the m operating rule areas are respectively set in different directions of the positioning information area. Determining the operating rules that the mobile robot needs to follow after arriving at the physical node, as the operating rules corresponding to the physical node, includes: for each possible operating direction of the mobile robot at the physical node, determining the operating rules that the mobile robot needs to follow when moving along the operating direction after arriving at the physical node, as the operating rules corresponding to the physical node and the operating direction. Setting the operating rule sub-identifier representing the operating rule corresponding to the physical node in the operating rule area of ​​the ground identifier at the physical node includes: for each operating direction, setting the operating rule sub-identifier representing the operating rule corresponding to the physical node and the operating direction in the target operating rule area of ​​the ground identifier at the physical node, wherein the target operating rule area is the operating rule area located in the operating direction of the positioning information area of ​​the ground identifier.

[0193] Specifically, for each physical node, the operating rules that the mobile robot must follow when it arrives at the physical node and runs along a certain operating direction are determined. These rules are used as the operating rules corresponding to the physical node and the operating direction, and a sub-identifier of the operating rule is generated to represent the operating rules corresponding to the physical node and the operating direction.

[0194] For each running direction, the running rule sub-identifier, which represents the running rules corresponding to the physical node and the running direction, is pasted into the target running rule area of ​​the ground identifier at the physical node. The target running rule area refers to the running rule area in the running direction located in the positioning information area of ​​the ground identifier at the physical node.

[0195] For example, suppose that all possible running directions of a mobile robot at physical node A are: direction 1 and direction 2. The running rule that the mobile robot must follow when running along direction 1 from physical node A is called running rule 1, and the running rule that it must follow when running along direction 2 is called running rule 2. A running rule area 1 is set on direction 1 of the positioning information area marked on the ground at physical node A, and a running rule area 2 is set on direction 2 of the positioning information area. In this example, running rule 1 is the running rule corresponding to physical node A and direction 1. A running rule sub-identifier 1 is generated to represent running rule 1, and the target running rule area is running rule area 1. Running rule sub-identifier 1 is pasted into running rule area 1. Running rule 2 is the running rule corresponding to physical node A and direction 2. A running rule sub-identifier 2 is generated to represent running rule 2, and the target running rule area is running rule area 2. Running rule sub-identifier 2 is pasted into running rule area 2.

[0196] It is understandable that if the operating rule that a mobile robot needs to follow when moving from physical node A to physical node B along direction 1 is operating rule 1, and the operating rule that a mobile robot needs to follow when moving from physical node B to physical node C along direction 2 is also operating rule 1, then even if the operating rule sub-identifier is not set in the operating rule area corresponding to direction 2 at physical node B, the mobile robot will still operate according to operating rule 1.

[0197] Based on this, in one possible embodiment, if the operating rules corresponding to the physical node are different from the operating rules corresponding to the upstream node of the physical node, the sub-identifier of the operating rule corresponding to the physical node is set in the operating rule area of ​​the ground identification at the physical node, wherein the upstream node is the node that the mobile robot reached before reaching the physical node.

[0198] For example, if the operating rule that a mobile robot needs to follow to move from physical node A to physical node B along direction 1 is operating rule 1, and the operating rule that a mobile robot needs to follow to move from physical node B to physical node C along direction 2 is operating rule 2, then it is considered that the operating rule corresponding to the physical node is different from the physical rule corresponding to the upstream node of the physical node. In this case, an operating rule sub-identifier for representing operating rule 2 can be set in the operating rule area corresponding to direction 2 of physical node B.

[0199] By using this embodiment, the sub-identifier representing the operating rule corresponding to the physical node can be set in the operating rule area of ​​the ground sign at the physical node only when the operating rule corresponding to the physical node is different from the operating rule corresponding to the upstream node of the physical node. This reduces the need to set the sub-identifier of the operating rule in the ground sign, reduces the workload during the construction of the ground sign, and thus improves the work efficiency of the ground sign construction.

[0200] It is understandable that if ground markers are placed in a corner, the mobile robot may not be able to scan them during operation, thus failing to construct an accurate topology map and perform user-assigned tasks. Therefore, to ensure the mobile robot can stably observe and scan ground markers from all directions, a flowchart of a ground marker construction method provided in this application embodiment can also be found... Figure 6a As shown, it includes:

[0201] S1, plan and determine the operating route.

[0202] Specifically, based on the facilities in the target task area and the passageways between them, the possible routes that the mobile robot may take are determined in advance. Figure 6a The arrows in the diagram represent the possible routes that the mobile robot may take, and the star symbol is used to indicate the working point of the mobile robot.

[0203] S2, determine the accurate pasting position and orientation of the positioning graphic.

[0204] Based on the determined operating routes, the intersections between each operating route are determined as the locations for affixing the positioning information sub-labels, and the direction for affixing the positioning information sub-labels is determined according to the operating direction of the mobile robot at the intersections.

[0205] The specific method for determining the location and orientation of the pasted positioning information sub-identifier can be as follows: Figure 6b As shown. See also Figure 6b Based on the topological route of the mobile robot in the target task area, the topological points of the mobile robot in the target task area are determined, that is, the intersection of the topological route of the mobile robot is determined as the topological point. The position coordinates of the topological point are the position coordinates of the physical node, which are also the position coordinates represented by the positioning information sub-identifier. Figure 6b The two dashed arrows represent the topological routes of the mobile robot within the target task area, while the solid black circles represent the topological points of the mobile robot within the target area. See also... Figure 6b The diagram on the right shows how to align the center point of the topology point with the center point of the positioning information sub-label, ensuring that the center point of the pasted positioning information sub-label coincides with the topology point, and that the direction of the pasted positioning information sub-label is aligned with the overall running path of the mobile robot. Figure 6a The center point of the "+" symbol is the topological point.

[0206] In the ground marking construction method provided in this application, the positioning information area and the operation rule area of ​​the ground marking can be hollowed out. Correspondingly, when setting up the ground marking, a positioning information sub-marker can be set first, so that the center point of the positioning information sub-marker is aligned with... Figure 6b The topological points shown coincide, and the direction of the pasted positioning information sub-identifiers is aligned with the overall running path of the mobile robot. Then, by aligning the positioning information area in the main structure with the set positioning information sub-identifiers, the main structure and the point attribute sub-identifiers on the main structure are set. Finally, by aligning the running rule sub-identifiers with the running rule area, the running rule sub-identifiers are set. Using this embodiment, in scenarios requiring high accuracy of position coordinates, since the positioning information area and running rule area in the ground marking are hollowed out, the positioning information sub-identifiers can be pasted first. This ensures that the center point of the positioning information sub-identifier is consistent with the position coordinates represented by the positioning information sub-identifier (i.e., the position coordinates of the topological point), thereby improving the accuracy of ground marking construction.

[0207] When setting up ground markers, you can first set up the main structure and the sub-markers of the point attributes on the main structure, so that the center point of the positioning information area in the main structure is aligned with... Figure 6b The topological points shown overlap, and the direction of the pasted point attribute sub-identifier is aligned with the direction of the overall running route of the mobile robot. Then, the positioning information sub-identifier and the running rule sub-identifier are set by aligning the positioning information sub-identifier with the positioning information area and the running rule sub-identifier with the running rule area.

[0208] The positioning information area and operation rule area in the ground markings can also be non-openwork. Correspondingly, when setting up ground markings, it is necessary to first set up the main structure and the point attribute sub-markers on the main structure, so that the center point of the positioning information area in the main structure is aligned with the center point of the ground markings. Figure 6b The topological points shown overlap, and the direction of the pasted point attribute sub-identifiers is aligned with the overall running path direction of the mobile robot. Then, the positioning information sub-identifiers and running rule sub-identifiers are set by aligning them with the positioning information area and the running rule sub-identifiers with the running rule area. However, it is understandable that, in order for the mobile robot to stably observe and scan ground markers while running in all directions, regardless of the setting order, it is necessary to ensure that... Figure 6b The topological points shown correspond to the center points of the positioning information sub-identifiers. That is, the center point of the pasted positioning information sub-identifiers coincides with the topological points, and the direction of pasting the positioning information sub-identifiers is aligned with the direction of the overall running path of the mobile robot.

[0209] S3, Paste the positioning graphic.

[0210] The positioning graphic is the positioning information sub-identifier. Paste the positioning information sub-identifier according to the position and orientation determined in S2. Figure 6a The cube frame in the diagram corresponding to S3 is the pasted positioning information sub-identifier, and the center point of the positioning information sub-identifier coincides with the center point of the "+" symbol in S2.

[0211] S4, paste the visual appearance and running rules graphics.

[0212] The visual appearance includes the aforementioned point attribute sub-identifiers, and the running rule graphic is the aforementioned running rule sub-identifier. Based on the running direction of each location information sub-identifier of the mobile robot, the function of each location information sub-identifier, and the running rules, the corresponding visual appearance and running rule sub-identifier containing the point attribute sub-identifiers are pasted at each location information sub-identifier. Figure 6a The illustration corresponding to S4 shows the visual appearance of pasting the point attribute sub-identifiers and the target task area after pasting the execution rule sub-identifiers. (See also...) Figure 6a In the diagram corresponding to S1, the lower left corner of the target task area is the working point, meaning the function of this physical node is a working point. Therefore, in S4, the visual appearance of the ground marker pasted in the lower left corner of the target task area is the appearance used to represent the function of a working point; that is, the ground marker pasted in the lower left corner of the target task area is as follows: Figure 3b As shown.

[0213] By using this embodiment, it can be ensured that the location information sub-identifier is located at the intersection of the mobile robot's topological route at the physical node, i.e., the topological point, thereby ensuring that the entire ground marker is located at this topological point. It can be understood that when the mobile robot moves to the physical node from any direction, it will pass through this topological point, thus enabling the mobile robot to stably observe and scan the ground marker in all directions.

[0214] As explained above, the following method is commonly used to construct the topology map of the task area: the operator controls a mobile robot equipped with a lidar to scan the environment of the task area, and reconstructs a 3D model of the task area based on the image obtained after the lidar scan to obtain a navigation map of the task area, that is, to construct a navigation map by pasting QR codes or other beacons or SLAM technology; then, the topology map of the task area is constructed based on the buildings in the navigation map and the connection relationships between the buildings.

[0215] The process of constructing the topology map described above is quite cumbersome, requiring a significant amount of time for navigation map creation. Furthermore, it necessitates configuring and operating numerous software tools, demanding a high level of expertise from the operators. During navigation map construction, the mobile robots scanning the task area operate independently. To build a complete 3D model of the task area, all images required for 3D model construction must be pre-determined, and each independent mobile robot must scan separately to obtain these images. However, because the position and angle of each independent mobile robot during scanning are difficult to control precisely, it is easy for LiDAR scans to miss certain areas, resulting in an incomplete navigation map. This can lead to mobile robots encountering malfunctions during task execution due to missing areas lacking positioning information, necessitating the reconstruction of the navigation map—essentially, rework. Therefore, the process of constructing a topology map demands a high level of expertise from operators, is difficult to implement, time-consuming, inefficient, and often requires continuous resolution of various details, resulting in high costs.

[0216] Based on this, in order to improve the efficiency and reduce the cost of constructing topology maps, this application provides a topology map construction method applied to a mobile robot. The mobile robot is deployed in a target task area, which has been pre-constructed according to any of the aforementioned ground marking construction methods. See [link to relevant documentation]. Figure 7 Topology map construction methods include:

[0217] S701, scan the positioning information sub-identifiers and point attribute sub-identifiers of the ground markers set at all physical nodes in the target task area, respectively, to obtain the position coordinates represented by each positioning information sub-identifier and the direction represented by each point attribute sub-identifier.

[0218] S702, based on the information obtained from the scan, constructs a topological map of the target task area so that the mobile robot can perform tasks according to the topological map.

[0219] The topology map includes multiple map nodes and multiple edges. Each map node corresponds to a different physical node and is used to represent the location coordinates represented by the positioning information sub-identifier set at the corresponding physical node. The edges of each map node are used to represent the direction represented by the point attribute sub-identifier set at the corresponding physical node.

[0220] In this embodiment, ground markers are set at physical nodes in the target task area. These markers include location information sub-markers and point attribute sub-markers. The location information sub-markers represent the position coordinates of the physical node where the ground marker is located, and the point attribute sub-markers represent all possible running directions of the mobile robot at the physical node where the ground marker is located. Therefore, the mobile robot can obtain the position coordinates of all physical nodes in the target task area and the running routes between them by scanning the location information sub-markers and point attribute sub-markers of the ground markers set at all physical nodes in the target task area. Thus, the mobile robot constructs a topology map of the target task area using the scanned information. Each map node in the topology map represents the position coordinates represented by the location information sub-marker at each physical node, and each edge represents the direction represented by the point attribute sub-marker at the corresponding physical node. Due to the ground markers, no highly skilled operator is required to control the mobile robot during the construction of the topology map. Furthermore, the step of setting ground markers at each physical node in the target task area, i.e., the aforementioned ground marker construction method, has low or no professional requirements for operators. Therefore, compared to the method that requires more professional operators to control the mobile robot to build a topology map, the embodiments of this application do not require complex operations and configurations, which greatly reduces the ability requirements and workload of operators and lowers the cost of building a topology map.

[0221] On the other hand, the ground markers that need to be pasted in the target task area can be fully utilized to integrate map information such as location coordinates and running direction into the ground markers, making the ground markers deployed in the target task area more concise and orderly, thereby improving work efficiency. Furthermore, the ground markers can be used to construct topology maps, which greatly improves the utilization rate of ground markers in the target task area.

[0222] The following will provide an exemplary description of the aforementioned S701-S702:

[0223] In S701, position coordinates can refer to a position expressed in coordinate form, such as coordinates (1, 2), (1, 2, 3), etc. Position coordinates can also refer to a position expressed in other forms than coordinates, such as point A, point B, point C, etc. The mobile robot can then scan the location information sub-identifiers and point attribute sub-identifiers at all physical nodes in the target task area to obtain the position coordinates represented by each location information sub-identifier, which is equivalent to obtaining the position coordinates of each physical node. Furthermore, it can obtain the direction represented by each point attribute sub-identifier, which is equivalent to obtaining all possible running directions of the mobile robot at each physical node.

[0224] The ground markers at the physical nodes are as shown in any of the preceding embodiments, and the ground markers can be set at each physical node in the target task area using the ground marker construction method shown in any of the preceding embodiments. The descriptions of the point attribute sub-markers and positioning information sub-markers above have already provided an illustrative explanation of how the mobile robot scans to obtain the position coordinates represented by each positioning information sub-marker and the direction represented by each point attribute sub-marker, and will not be repeated here.

[0225] In S702, based on the information obtained from the scan, the constructed topological map can be as follows: Figure 8 As shown. Figure 8 The topology map includes 6 map nodes: v1, v2, v3, v4, v5, v6, and 9 edges: e1, e2, e3, e4, e5, e6, e7, e8, e9. See also Figure 8 Assuming the physical nodes corresponding to each map node are v1', v2', v3', v4', v5', and v6', then... Figure 8 In the diagram, map node v1 can be used to represent the location coordinates represented by the location information sub-identifier at physical node v1'. Similarly, map node v2 can be used to represent the location coordinates represented by the location information sub-identifier at physical node v2', map node v3 can be used to represent the location coordinates represented by the location information sub-identifier at physical node v3', map node v4 can be used to represent the location coordinates represented by the location information sub-identifier at physical node v4', map node v5 can be used to represent the location coordinates represented by the location information sub-identifier at physical node v5', and map node v6 can be used to represent the location coordinates represented by the location information sub-identifier at physical node v6'.

[0226] In a topology map, edges can be used to represent the direction indicated by the point attribute sub-identifier set at the corresponding physical node. For example, see... Figure 8Edge e1 represents the direction e1 indicated by the sub-identifier of the point attribute at physical node v2', that is, one can run from physical node v2' to physical node v1' along direction e1; edge e2 represents the direction e2 indicated by the sub-identifier of the point attribute at physical node v3', that is, one can run from physical node v3' to physical node v2' along direction e2, and so on for other edges, which will not be elaborated here.

[0227] Figure 8 The topological map shown can be denoted as [V, E], where V is the set of map nodes in the topological map, i.e., V = [v1, v2, v3, v4, v5, v6], and E is the set of directed edges in the topological map, i.e., E = [e1, e2, e3, e4, e5, e6, e7, e8, e9]. Furthermore, since directed edges e1 and e5 both originate from map node v2 and point to other map nodes, they can be considered as outgoing edges of v2. Similarly, since directed edges e2, e4, and e6 all originate from other map nodes and point to map node v2, they can be considered as incoming edges of v2.

[0228] In one possible embodiment, the point attribute sub-identifier is also used to represent a function; correspondingly, the aforementioned S701 includes: scanning the positioning information sub-identifiers and point attribute sub-identifiers of the ground markers set at all physical nodes in the target task area, respectively, to obtain the position coordinates represented by each positioning information sub-identifier, and the direction and function represented by each point attribute sub-identifier. Furthermore, the map nodes in the topology map constructed in S702 are also used to represent the functions represented by the point attribute sub-identifiers set at the corresponding physical nodes.

[0229] The preceding description of the point attribute sub-identifiers has already provided an exemplary explanation of how the mobile robot scans to obtain the direction and function represented by the point attribute sub-identifiers, so it will not be repeated here. In this embodiment, the point attribute sub-identifiers of the ground markers at a certain physical node are used to represent direction and function. After the mobile robot scans the point attribute sub-identifiers of the ground markers set at that physical node, it can obtain the direction and function represented by the point attribute sub-identifiers and generate a map node to represent the direction and function represented by the point attribute sub-identifiers at that physical node.

[0230] If the sub-identifier of the ground marker at a certain physical node is only used to indicate direction, then after the mobile robot scans the sub-identifier of the ground marker set at that physical node, it can only obtain the direction indicated by the sub-identifier and generate a map node to indicate the direction indicated by the sub-identifier of the ground marker at that physical node.

[0231] By using this embodiment, the generated topology map can reflect the function represented by the point attribute sub-identifiers at each physical node. This allows users to determine the corresponding task location based on the topology map when issuing task instructions related to the function of the physical node, thereby improving the practicality of the topology map.

[0232] In one possible embodiment, see Figure 9 The topology map construction method provided in this application includes:

[0233] S7011, Scan the positioning information sub-identifier of the ground marker set at the first physical node of the target task area, and obtain the position coordinates represented by the positioning information sub-identifier as the first position.

[0234] S7021, Generate a first map node in the topological map of the target task area to represent the first location.

[0235] S7012, scan the point attribute sub-identifier of the ground marker at the current physical node to obtain the direction represented by the point attribute sub-identifier, and use it as the first running direction. The current physical node is initially the first physical node.

[0236] S7013, for each first running direction, runs along the first running direction to the next physical node, which becomes the second physical node.

[0237] S7014, for each second physical node, scan the positioning information sub-identifier of the ground marker set at the second physical node to obtain the position coordinates represented by the positioning information sub-identifier, which is used as the second position of the second physical node.

[0238] S7022, for each second physical node, generate a second map node in the topology map to represent the second location of the second physical node, and generate an edge from the current map node to the second map node.

[0239] The current map node is a map node used to represent the location coordinates of the current physical node.

[0240] S7015, Select a node from the second physical nodes that has not been the current physical node, and use it as the new current physical node, and return to the step of scanning the point attribute sub-identifier of the ground identifier at the current physical node, until there is no second physical node that has not been the current physical node.

[0241] In this embodiment, on the one hand, since ground markers are set at physical nodes in the target task area, and the ground markers include: positioning information sub-markers and point attribute sub-markers; the positioning information sub-markers are used to represent the position coordinates of the physical node where the ground markers are set, and the point attribute sub-markers are used to represent all possible directions of movement of the mobile robot at the physical node where the ground markers are set; therefore, the mobile robot can obtain the position represented by the positioning information sub-markers as the first position by scanning the positioning information sub-markers set at the first physical node, and generate a first map node in the topology map of the target task area to represent the first position. Furthermore, the mobile robot can scan the sub-identifiers of the ground markers at the current physical node to obtain the direction represented by the sub-identifiers, which serves as the first running direction. The current physical node is initially the first physical node. For each first running direction, the robot moves along the first running direction to the next physical node, which becomes the second physical node. For each second physical node, the robot scans the sub-identifiers of the ground markers at the second physical node to obtain the position coordinates represented by the sub-identifiers, which serve as the second position of the second physical node. For each second physical node, a second map node representing the second position of the second physical node is generated in the topology map, and an edge is generated pointing from the current map node to the second map node. A node that has not been the current physical node is selected from the second physical nodes and becomes the new current physical node. The robot then returns to the step of scanning the sub-identifiers of the ground markers at the current physical node until there are no second physical nodes that have not been the current physical node. By performing the above steps, the mobile robot can generate map nodes corresponding to all physical nodes in the target task area's topology map. Based on the direction indicated by the sub-identifiers of each physical node's location attribute, it generates the topological relationships between these map nodes, thus constructing the topology map of the target task area. Due to the ground markers, no highly skilled operators are required to control the mobile robot during the topology map construction process. Furthermore, the step of setting ground markers at each physical node in the target task area—that is, the aforementioned ground marker construction method—requires little or no expertise from the operators. Therefore, compared to methods that require highly skilled operators to control the mobile robot to construct a topology map, this embodiment eliminates the need for complex operations and configurations, significantly reducing the skill requirements and workload of operators, and lowering the cost of constructing the topology map.

[0242] On the other hand, by reselecting the current physical node and moving to the next physical node in all directions indicated by the sub-identifier of the point attribute at the current physical node, until there is no second physical node that has not been the current physical node, the mobile robot can explore all physical nodes in the target task area without any omissions, that is, without the need for rework. This reduces the time required to build the topology map and improves the efficiency of building the topology map.

[0243] exist Figure 9 In the example shown, although the aforementioned Figure 7 In the example shown, S701 is subdivided into S7011-S7015, and S702 is subdivided into S7021-S7022. S701 must be executed before S702. However, in the actual process of generating a topology map, when the location coordinates represented by the sub-identifier of a physical node and the direction represented by the sub-identifier of the point attribute are obtained through scanning, the map node corresponding to that physical node and the topological relationships between map nodes can be constructed in the topology map based on the information at that physical node. Therefore, in Figure 9 In the illustrated embodiment, S7021 is a step executed in response to S7011, and S7022 is a step executed in response to S7014. The following will provide an exemplary description of S7011-S7015 and S7021-S7022:

[0244] In S7011, the first physical node is any physical node in the target task area that is marked with a ground marker. The method by which the mobile robot scans the positioning information sub-marker set at the first physical node to obtain the first position can be found in the relevant description in the aforementioned S701, and will not be repeated here.

[0245] In S7021, the map identifier of the first map node in the topology map of the target task area should be the same as the first location. That is, the map identifier of the first map node in the topology map should be the same as the location coordinates represented by the location information sub-identifier at the first physical node. For example, if the location coordinates represented by the location information sub-identifier at the first physical node are point A, that is, the first location is point A, then a point A is generated in the topology map as the first map node.

[0246] In S7012, initially, the current physical node is the first physical node. At this time, S7012 and S7011 can be executed simultaneously, that is, the mobile robot can scan the positioning information sub-identifier and the point attribute sub-identifier at the first physical node at the same time to obtain the first position and the first running direction.

[0247] For the first direction of travel, for example, if the direction represented by the sub-identifier of the ground identifier at the current physical node is: forward or right turn, then the first direction of travel is: forward or right turn.

[0248] In S7013, the mobile robot moves along the first running direction. When the mobile robot captures a ground marker, it indicates that the mobile robot has moved to the next physical node along the first running direction, and this next physical node is taken as the second physical node.

[0249] For example, if the first running direction is forward and then right, the mobile robot starts from the current physical node and moves forward (i.e., moves forward). When the mobile robot captures ground marker 1, the position where the mobile robot captures ground marker 1, i.e., the position set by the mobile robot capturing ground marker 1, is designated as the second physical node 1. Afterward, the mobile robot returns to the current physical node and starts from the current physical node and moves to the right (i.e., turns right). When the mobile robot captures ground marker 2, the position where the mobile robot captures ground marker 2, i.e., the position set by the mobile robot capturing ground marker 2, is designated as the second physical node 2.

[0250] In S7014, corresponding to the example in S7013 above, in one possible implementation, when the mobile robot starts from the current physical node and moves forward and captures a picture of ground marker 1, it can scan the positioning information sub-marker in ground marker 1 to obtain the second position of the second physical node 1. If the position coordinates represented by the positioning information sub-marker in ground marker 1 are point B, then the second position is point B. Afterwards, the mobile robot returns to the current physical node and moves to the right from the current physical node. When the mobile robot captures a picture of ground marker 2, it can scan the positioning information sub-marker in ground marker 2 to obtain the second position of the second physical node 2. If the position coordinates represented by the positioning information sub-marker in ground marker 2 are point C, then the second position is point C.

[0251] In another possible implementation, the mobile robot can return to the current physical node after photographing ground marker 1, and then move to the right from the current physical node to photograph ground marker 2. Afterwards, the mobile robot returns to the current physical node again, and at this time, scans the positioning information sub-markers in the images of ground marker 1 and ground marker 2 respectively to obtain the second position of the second physical node 1 and the second position of the second physical node 2.

[0252] In S7022, the current map node is a map node used to represent the position coordinates of the current physical node. The current physical node is initially the first physical node, and the current map node is initially the first map node.

[0253] Corresponding to the example in S7014 above, assuming the current map node is point A, after the mobile robot obtains the second position B of the second physical node 1, it generates a point B in the topology map as the second map node 1, and generates an edge from the current map node A to the second map node B. Furthermore, after the mobile robot obtains the second position C of the second physical node 2, it generates a point C in the topology map as the second map node 2, and generates an edge from the current map node A to the second map node C.

[0254] Corresponding to the two implementations in S7014, S7013, S7014, and S7022 can be executed simultaneously. For example, assuming the first running direction is direction 1 and direction 2, for direction 1, the mobile robot executes S7013, S7014, and S7022 to generate a second map node 1 in the topology map to represent the second position of the robot running along direction 1 to the second physical node 1, and to generate an edge from the current map node to the second map node 1. Then, the mobile robot returns to the current physical node and executes S7013, S7014, and S7022 for direction 2, generating a second map node 2 in the topology map to represent the second position of the robot running along direction 2 to the second physical node 2, and to generate an edge from the current map node to the second map node 2.

[0255] S7013, S7014, and S7022 can also be executed in the order of S7013 → S7014 → S7022. For example, assuming the first running directions are direction 1 and direction 2, the mobile robot runs along direction 1 to the second physical node 1 with ground marker 1, obtains an image of ground marker 1 (referred to as image 1), and returns to the current physical node. It then runs along direction 2 to the second physical node 2 with ground marker 2, obtains an image of ground marker 2 (referred to as image 2), and returns to the current physical node again. This process is the mobile robot executing S7013. Afterward, the mobile robot executes S7014, scanning the positioning information sub-markers in both images 1 and 2 to obtain the second position of the second physical node 1 and the second position of the second physical node 2. Then, the mobile robot executes S7022 to generate a second map node 1 in the topology map to represent the second location of the second physical node 1, and to generate an edge from the current map node to the second map node 1; and generates a second map node 2 to represent the second location of the second physical node 2, and to generate an edge from the current map node to the second map node 2.

[0256] In this article, the edge in the topology map refers to the directed edge from point A to point B. If the topology map includes both the edge from point A to point B and the edge from point B to point A, then these two edges can also be regarded as an undirected edge.

[0257] In S7015, a node that has not been a current physical node is selected from the second physical nodes and designated as the new current physical node. The process then returns to S7012-S7022, continuing until no second physical node that has not been a current physical node exists. When no second physical node that has not been a current physical node exists, the mobile robot has traversed all physical nodes in the target task area. The generated topology map includes map nodes representing the coordinates of each physical node, and all possible running directions at each physical node have been traversed, resulting in all possible running directions of the mobile robot at all physical nodes. The generated topology map includes directed edges representing all possible running directions of the mobile robot at all physical nodes.

[0258] For ease of understanding Figure 9 The process of building a topology map, as shown below, will be explained using... Figure 8 Using the topology map shown as an example, the generation process of the topology map will be explained exemplarily. To distinguish between physical nodes and map nodes, map nodes will be denoted as vi, and physical nodes as vi'. Assuming that initially, the current physical node is v2', that is, the first physical node is v2', the mobile robot scans the positioning information sub-identifier and point attribute sub-identifier of the ground marker set at v2' to obtain the first position and first running direction of v2': direction 1 and direction 5, and generates the first map node v2 in the topology map to represent the first position, that is, the current map node is v2. The above process is S7011-S7021, S7012 mentioned above, that is, S7011-S7012.

[0259] The mobile robot moves along direction 1 to the second physical node v1', scans the positioning information sub-identifier of the ground marker set at v1', obtains the second position of v1', generates a second map node v1 in the topology map to represent the second position of the second physical node v1', and generates an edge e1 from the current map node v2 to the second map node v1, i.e., e1 = v2 → v1. The mobile robot returns to the current physical node v2', moves along direction 5 to the second physical node v4', scans the positioning information sub-identifier of the ground marker set at v4', obtains the second position of v4', generates a second map node v4 in the topology map to represent the second position of the second physical node v4', and generates an edge e5 from the current map node v2 to the second map node v4, i.e., e5 = v2 → v4. The above process is S7013, S7014, and S7022, i.e., S7013-S7022.

[0260] At this point, the second physical nodes include v1' and v4'. Assuming the mobile robot uses v1', which has not been a current physical node in the second physical nodes, as the new current physical node, then the new current map node is v1. For ease of description, the execution of S7013, S7014, S7022, and S7015 for different current physical nodes (i.e., S7013-S7015) will be considered as different rounds of exploration. In the first round of exploration, the current physical node is the first physical node v2', and in the second round of exploration, the current physical node is the second physical node v1'.

[0261] During the second round of exploration, the mobile robot performs the following steps: It scans the sub-identifiers of the point attributes of the ground markers set at v1' to obtain v1''s first running direction: direction 3; it runs along direction 3 to the second physical node v4', scans the sub-identifiers of the positioning information of the ground markers set at v4' to obtain v4''s second position, generates a second map node v4 in the topology map to represent the second position of the second physical node v4', and generates an edge e3 pointing from the current map node v1 to the second map node v4, i.e., e3 = v1 → v4. This process is equivalent to S7012-S7022, meaning that after determining the new current physical node, it returns to execute S7012-S7022.

[0262] At this point, the second physical nodes include v1' and v4'. Since v4' is the only physical node that has not been used as the current physical node, step S7015 is executed, making v4' the new current physical node. Therefore, in the third round of exploration, the current physical node is v4', and the current map node is v4. The mobile robot performs the following steps in the third round of exploration: scans the sub-identifiers of the point attributes of the ground markers set at v4' to obtain the first running direction of v4': direction 4 and direction 8; runs along direction 4 to the second physical node v2', scans the sub-identifiers of the positioning information of the ground markers set at v2' to obtain the second position of v2', generates a second map node v2 in the topology map to represent the second position of the second physical node v2', and generates an edge e4 from the current map node v4 to the second map node v2, i.e., e4 = v4 → v2. Furthermore, the mobile robot returns to the current physical node v4', runs along direction 8 to the second physical node v5', scans the positioning information sub-identifier of the ground marker set at v5', obtains the second position of v5', generates a second map node v5 in the topology map to represent the second position of the second physical node v5', and generates an edge e8 from the current map node v4 to the second map node v5, that is, e8=v4→v5.

[0263] At this point, the second physical nodes include: v1', v4', v2', and v5'. Since v5' is the only physical node that has not been used as the current physical node, step S7015 is executed, making v5' the new current physical node. Therefore, in the fourth round of exploration, the current physical node is v5', and the current map node is v5. The mobile robot performs the following steps in the fourth round of exploration: scans the sub-identifiers of the point attributes of the ground markers set at v5' to obtain the first running direction of v5': direction 9; runs along direction 9 to the second physical node v6', scans the sub-identifiers of the positioning information of the ground markers set at v6' to obtain the second position of v6', generates a second map node v6 in the topology map to represent the second position of the second physical node v6', and generates an edge e9 from the current map node v5 to the second map node v6, i.e., e9 = v5 → v6.

[0264] At this point, the second physical nodes include: v1', v4', v2', v5', and v6'. The only physical node that has not been a current physical node is v6'. Therefore, S7015 is executed, and v6' is set as the new current physical node. Thus, in the fifth round of exploration, the current physical node is v6', and the current map node is v6. The mobile robot performs the following steps in the fifth round of exploration: scans the sub-identifiers of the point attributes of the ground markers set at v6' to obtain the first running direction of v6': direction 6 and direction 7; runs along direction 6 to the second physical node v2', scans the sub-identifiers of the positioning information of the ground markers set at v2' to obtain the second position of v2', generates a second map node v2 in the topology map to represent the second position of the second physical node v2', and generates an edge e6 from the current map node v6 to the second map node v2, i.e., e6 = v6 → v2. Furthermore, the mobile robot returns to the current physical node v6', runs along direction 7 to the second physical node v3', scans the positioning information sub-identifier of the ground marker set at v3', obtains the second position of v3', generates a second map node v3 in the topology map to represent the second position of the second physical node v3', and generates an edge e7 from the current map node v6 to the second map node v3, that is, e7=v6→v3.

[0265] At this point, the second physical nodes include: v1', v4', v5', v6', v2', and v3'. Since v3' is the only physical node that has not been used as the current physical node, step S7015 is executed, making v3' the new current physical node. Therefore, in the sixth round of exploration, the current physical node is v3', and the current map node is v3. The mobile robot performs the following steps in the sixth round of exploration: scans the sub-identifiers of the point attributes of the ground markers set at v3' to obtain the first running direction of v3': direction 2; runs along direction 2 to the second physical node v2', scans the sub-identifiers of the positioning information of the ground markers set at v2' to obtain the second position of v2', generates a second map node v2 in the topology map to represent the second position of the second physical node v2', and generates an edge e2 from the current map node v3 to the second map node v2, i.e., e2 = v3 → v2.

[0266] After the sixth round of exploration, the second physical nodes include: v1', v4', v5', v6', v2', and v3'. All the second physical nodes have been used as the current physical node, that is, there are no second physical nodes that have not been used as the current physical node. Therefore, it is not necessary to execute S7012-S7015 again. The topology map [V, E] of the target task area has been constructed.

[0267] It is understood that the above process is only one possible process for constructing the topology map [V, E]. In other possible embodiments, v1' or v4' or v5' or v6' or v3' can also be used as the current physical node at the beginning. The specific process of constructing the topology map is the same as the above process, and will not be repeated here.

[0268] The above text has already combined Figure 8 The specific implementation process of the topology map construction method provided in this application is illustrated by an example. Referring to the foregoing description, in the first round of exploration, a map node v2 representing the location of physical node v2' has already been constructed in the topology map. However, in the third, fifth, and sixth rounds of exploration, the mobile robot can move from the current physical node to physical node v2'. Therefore, in the third, fifth, and sixth rounds of exploration, a map node v2 representing the location of physical node v2' will still be constructed in the topology map, resulting in the mobile robot needing to perform repetitive work and causing a waste of resources.

[0269] Based on this, in one possible embodiment, the topology map construction method provided in this application can be as follows: Figure 10 As shown, the aforementioned S7022 includes:

[0270] S7022a, for each second physical node, find the second map node in the topology map to represent the second location of the second physical node.

[0271] S7022b: If a second map node is found, an edge is generated in the topology map pointing from the current map node to the found second map node.

[0272] S7022c, if the second map node is not found, then the steps of generating a second map node in the topology map to represent the second location of the second physical node and generating an edge from the current map node to the second map node are executed.

[0273] The following will be based on the aforementioned construction. Figure 8Taking the third round of exploration in the topology map process as an example, the above S7022a-S7022c will be explained exemplarily. In the third round of exploration, v4' is taken as the new current physical node, and the new current map node is v4. The mobile robot performs the following steps in the third round: scan the point attribute sub-identifier of the ground marker set at v4' to obtain the first running direction of v4': direction 4, direction 8; run along direction 4 to the second physical node v2', scan the positioning information sub-identifier of the ground marker set at v2' to obtain the second position of v2', and search for the second map node v2 in the topology map to represent the second position of the second physical node v2'. Since the map node v2 representing the position of v2' has already been generated in the topology map in the first round of exploration, the map node v2 can be found in the topology map. At this time, it is only necessary to generate an edge e4 from the current map node v4 to the second map node v2 in the topology map, that is, e4=v4→v2.

[0274] Furthermore, the mobile robot returns to the current physical node v4', moves along direction 8 to the second physical node v5', scans the positioning information sub-identifier of the ground marker set at v5', obtains the second position of v5', and searches for the second map node v5 in the topology map to represent the second position of the second physical node v5'. Since the mobile robot did not reach the second physical node v5' in the first and second rounds of exploration, no map node v5 representing the position of v5' was generated in the topology map. Therefore, the mobile robot cannot find the map node v5 in the topology map. Thus, the mobile robot needs to generate the second map node v5 representing the second position of the second physical node v5' in the topology map and generate an edge e8 from the current map node v4 to the second map node v5, that is, e8 = v4 → v5.

[0275] exist Figure 10 In the embodiments shown, the specific implementation methods of the second, fourth, fifth and sixth rounds of exploration are the same as those of the third round of exploration. Please refer to the description of the third round of exploration above, and they will not be repeated here.

[0276] By using this embodiment, it can be determined whether a map node representing the second location of the second physical node has already been generated in the topology map by searching for a second map node in the topology map. If a second map node is found, it is not necessary to repeatedly create a second map node representing the second location of the second physical node; instead, an edge pointing from the current map node to the found second map node can be directly generated in the topology map. If a second map node is not found, it is necessary to generate a second map node representing the second location of the second physical node in the topology map and generate an edge pointing from the current map node to the second map node. This avoids the mobile robot repeatedly creating map nodes for the same physical node, thus preventing the waste of resources for the mobile robot.

[0277] The preceding text has provided an example of how to avoid mobile robots repeatedly creating map nodes for the same physical node. The following text will provide an example of how to select a new current physical node. See [link to documentation]. Figure 11 Topology map construction methods include:

[0278] S7011, Scan the positioning information sub-identifier of the ground marker set at the first physical node of the target task area, and obtain the position coordinates represented by the positioning information sub-identifier as the first position.

[0279] S7021, Generate a first map node in the topological map of the target task area to represent the first location.

[0280] S7012, scan the point attribute sub-identifier of the ground marker at the current physical node to obtain the direction represented by the point attribute sub-identifier, and use it as the first running direction. The current physical node is initially the first physical node.

[0281] S7013, for each first running direction, runs along the first running direction to the next physical node, which becomes the second physical node.

[0282] S7014, for each second physical node, scan the positioning information sub-identifier of the ground marker set at the second physical node to obtain the position coordinates represented by the positioning information sub-identifier, which is used as the second position of the second physical node.

[0283] S7022, for each second physical node, generate a second map node in the topology map to represent the second location of the second physical node, and generate an edge from the current map node to the second map node.

[0284] S7011-S7022 have been described by example in the preceding text. Please refer to the relevant descriptions of S7011-S7022 above. They will not be repeated here.

[0285] S703: For each second physical node, if the explored node set does not contain the second physical node, add the second physical node to the node set to be explored.

[0286] The set of explored nodes is initially empty, while the set of nodes to be explored initially includes the first physical node.

[0287] S704: Remove the current physical node from the set of nodes to be explored and add the current physical node to the set of explored nodes.

[0288] S7015a: Select a node from the set of nodes to be explored as the new current physical node, and return to the step of scanning the sub-identifiers of the point attributes of the ground identifier at the current physical node until the set of nodes to be explored is empty.

[0289] Understandable, Figure 11 The example shown is only one possible execution order. Specifically, S703 can be executed simultaneously with S7013-S7022, or in the order of S7013→S7014→S7022→S703, or in the order of S7013→S703→S7014→S7022, or in the order of S7013→S7014→S703→S7022. S704 needs to be executed after S7022 and S703.

[0290] The following will be based on the aforementioned construction. Figure 8 Taking the topology map process shown as an example, S703, S704 and S7015a will be explained by way of example.

[0291] In the first round of exploration, the current physical node is v2', which is also the first physical node. The current map node is v2, the explored node set is empty, and the node set to be explored includes the first physical node v2'. When the mobile robot moves to the second physical node v1', v1' is not included in the explored node set, so v1' is added to the node set to be explored, and the second map node v1 and the directed edge e1=v2→v1 are generated. When the mobile robot moves to the second physical node v4', v4' is not included in the explored node set, so v4' is added to the node set to be explored, and the second map node v4 and the directed edge e5=v2→v4 are generated. At this point, the mobile robot has completed its journey along all possible directions (direction 1 and direction 5) at position v2', obtained the second position of the second physical node, and generated second map nodes (v1 and v4) to represent the second positions of each second physical node, as well as edges (e1 and e5) pointing from the current map node to the second map node. Once the mobile robot has completed the aforementioned steps S7013, S7014, and S7022 for the current physical node v2', it can be considered that the exploration of the current physical node v2' is complete. Step S704 can then be executed to remove the current physical node v2' from the set of nodes to be explored and add the current physical node v2' to the set of nodes already explored.

[0292] Therefore, during the first round of exploration (S7015a), the explored node set includes v2', and the node set to be explored includes v1' and v4'. A node can be arbitrarily selected from the node set to be explored as the new current physical node to begin the second round of exploration. Assuming v1' is chosen as the new current physical node, then in the second round of exploration, the current map node is v1. When the mobile robot reaches the second physical node v4', v4' is not included in the explored node set. Therefore, v4' is added to the node set to be explored, and the second map node v4 and the directed edge e3 = v1 → v4 are generated. At this point, the mobile robot has completed its exploration of the current physical node v1' and can execute S704 to remove the current physical node v1' from the node set to be explored and add it back to the explored node set.

[0293] Therefore, during the second round of exploration, when executing S7015a, the explored node set includes v2' and v1', and the node set to be explored includes v4'. The only node in the node set to be explored can then be used as the new current physical node to begin the third round of exploration. In this third round, the current map node is v4. When the mobile robot reaches the second physical node v2', since the explored node set includes v2', there is no need to add v2' to the node set to be explored. Instead, the second map node v2 and the directed edge e4=v4→v2 are generated. When the mobile robot reaches the second physical node v5', since the explored node set does not include v5', v5' is added to the node set to be explored, and the second map node v5 and the directed edge e8=v4→v5 are generated. At this point, the mobile robot has completed its exploration of the current physical node v4' and can execute S704 to remove the current physical node v4' from the node set to be explored and add it back to the explored node set.

[0294] Therefore, during the third round of exploration, when executing S7015a, the explored node set includes v2', v1', and v4', and the node set to be explored includes v5'. The only node in the node set to be explored can then be used as the new current physical node to begin the fourth round of exploration. In this fourth round, the current map node is v5. When the mobile robot reaches the second physical node v6', v6' is not included in the explored node set. Therefore, v6' is added to the node set to be explored, and the second map node v6 and the directed edge e9 = v5 → v6 are generated. At this point, the mobile robot has completed its exploration of the current physical node v5' and can execute S704, removing the current physical node v5' from the node set to be explored and adding it back to the explored node set.

[0295] Therefore, during the fourth round of exploration executing S7015a, the explored node set includes v2', v1', v4', and v5', and the node set to be explored includes v6'. The only node in the node set to be explored can then be used as the new current physical node to begin the fifth round of exploration. In the fifth round, the current map node is v6. When the mobile robot reaches the second physical node v2', since the explored node set includes v2', there is no need to add v2' to the node set to be explored. The second map node v2 and the directed edge e6 = v6 → v2 are generated. When the mobile robot reaches the second physical node v3', since the explored node set does not include v3', v3' is added to the node set to be explored, and the second map node v3 and the directed edge e7 = v6 → v3 are generated. At this point, the mobile robot has completed its exploration of the current physical node v6' and can execute S704 to remove the current physical node v6' from the set of nodes to be explored and add the current physical node v6' to the set of explored nodes.

[0296] Therefore, during the fifth round of exploration, when executing S7015a, the explored node set includes v2', v1', v4', v5', and v6', and the node set to be explored includes v3'. The only node in the node set to be explored can then be used as the new current physical node to begin the sixth round of exploration. In the sixth round, the current map node is v3. When the mobile robot reaches the second physical node v2', since the explored node set includes v2', there is no need to add v2' to the node set to be explored. The second map node v2 and the directed edge e2=v3→v2 are then generated. At this point, the mobile robot has completed its exploration of the current physical node v3' and can execute S704 to remove the current physical node v3' from the node set to be explored and add it back to the explored node set.

[0297] Therefore, during the sixth round of exploration, when S7015a is executed, the set of explored nodes includes: v2', v1', v4', v5', v6', and v3'. The set of nodes to be explored is empty. Therefore, during the sixth round of exploration, there is no need to execute S7015a again, that is, there is no need to determine new current physical nodes and no need to conduct a new round of exploration. The topological map [V, E] of the target task area has been constructed.

[0298] By employing this embodiment, the mobile robot can easily determine whether a physical node has been explored. When a physical node is explored, it is removed from the set of nodes to be explored and added to the set of explored nodes. Similarly, when a new physical node is discovered, its presence in the set of explored nodes indicates whether it has been explored, and it is then added to the set of nodes to be explored. This arrangement of the sets of nodes to be explored and those already explored allows the mobile robot to better distinguish between explored and unexplored nodes, thereby improving its computational efficiency and the efficiency of topology map construction.

[0299] The above text has provided an example of how to select a new current physical node. The following text will combine... Figure 9 , Figure 10 as well as Figure 11 The example shown illustrates the algorithm flow for a mobile robot to construct a topology map. The algorithm for a mobile robot to construct a topology map can be as follows, where the text after the " / / " symbol explains the algorithm for that line:

[0300]

[0301]

[0302] The algorithm for constructing a topology map by a mobile robot has been described above with an example. As mentioned earlier regarding ground markings, the point attribute sub-markers are also used to represent functions. In this embodiment, see [link to documentation]. Figure 12 Topology map construction methods include:

[0303] S7011, Scan the positioning information sub-identifier of the ground marker set at the first physical node of the target task area, and obtain the position coordinates represented by the positioning information sub-identifier as the first position.

[0304] S7011 has been described by example in the preceding text. Please refer to the foregoing description of S7011, which will not be repeated here.

[0305] S1201, Scan the point attribute sub-identifier of the ground marker at the first physical node to obtain the function represented by the point attribute sub-identifier, which is used as the function of the first physical node.

[0306] The way in which the mobile robot scans to obtain the function represented by the point attribute sub-identifier is the same as the way in which the mobile robot scans the positioning information sub-identifier to obtain the position coordinates represented by the positioning information sub-identifier in the aforementioned S701. Please refer to the relevant description in the aforementioned S701, and it will not be repeated here.

[0307] S7021a, Generate a first map node in the topology map of the target task area to represent the functions of the first location and the first physical node.

[0308] The first map node can be used to represent the first physical node's location and function. Specifically, a table can be created to store the correspondence between the first map node and the first physical node's function. Alternatively, the table can store the correspondence between different display methods of the map node and their respective functions. For example, if the first physical node's function is a charging station, the first map node will be displayed as a green circle; if the first physical node's function is a shelf storage location, the first map node will be displayed as a green square, and so on.

[0309] S7012, scan the point attribute sub-identifier of the ground marker at the current physical node to obtain the direction represented by the point attribute sub-identifier, and use it as the first running direction. The current physical node is initially the first physical node.

[0310] S7013, for each first running direction, runs along the first running direction to the next physical node, which becomes the second physical node.

[0311] S7014, for each second physical node, scan the positioning information sub-identifier of the ground marker set at the second physical node to obtain the position coordinates represented by the positioning information sub-identifier, which is used as the second position of the second physical node.

[0312] S7012-S7014 have been described by example in the preceding text. Please refer to the foregoing descriptions of S7012-S7014, which will not be repeated here.

[0313] S1202, for each second physical node, scan the point attribute sub-identifier of the ground marker at the second physical node to obtain the function represented by the point attribute sub-identifier, which is used as the function of the second physical node.

[0314] S7022d, for each second physical node, generates a second map node in the topology map to represent the second location and function of the second physical node, and generates an edge from the current map node to the second map node.

[0315] The second map node can be used to represent the second location and function of the second physical node. For details on how to generate the second map node, please refer to the relevant description in S7021a above, which will not be repeated here. For details on how to generate an edge pointing from the current map node to the second map node, please refer to the relevant description in S7022 above, which will not be repeated here.

[0316] S7015, Select a node from the second physical nodes that has not been the current physical node, and use it as the new current physical node, and return to the step of scanning the point attribute sub-identifier of the ground identifier at the current physical node, until there is no second physical node that has not been the current physical node.

[0317] S7015 has been described by example in the preceding text. Please refer to the aforementioned description of S7015, which will not be repeated here.

[0318] By using this embodiment, the generated topology map can reflect the function of each physical node, so that when the user issues a task command related to the function, the user can still determine the corresponding task location based on the topology map, thereby improving the practicality of the topology map.

[0319] Corresponding to the aforementioned topology map construction method, this application also provides a mobile robot movement method, applied to mobile robots, see [link to relevant documentation]. Figure 13 The methods include:

[0320] S1301, in response to the first task instruction, scan the positioning information sub-identifier of the ground marker set at the third physical node of the target task area, and obtain the position coordinates represented by the positioning information sub-identifier as the third position.

[0321] The third physical node is the physical node where the mobile robot itself is located.

[0322] S1302, in the topological map of the target task area, find the map node used to represent the third location as the third map node, and find the fourth map node indicated by the first task instruction.

[0323] The topology map is constructed using any of the aforementioned topology map construction methods.

[0324] S1303: Based on the topological relationships between the map nodes in the topological map, the running route from the third map node to the fourth map node is planned and the operation is carried out according to the running route.

[0325] In this embodiment, the mobile robot can respond to the first task instruction by scanning the positioning information sub-identifiers of the ground markers of the physical node where it is located to determine its own position. It can then identify the third map node representing its own position and the fourth map node indicated by the first task instruction in the topology map. Based on the third map node, the fourth map node, and the topology map, it can determine the running route required to complete the first task instruction. This allows the mobile robot to determine its running route in a simpler way, thereby reducing the workload of operators when the mobile robot performs tasks and lowering labor costs.

[0326] The following will provide an exemplary description of the aforementioned S1301-S1303:

[0327] In S1301, the first task instruction can refer to a cargo handling instruction, a charging instruction, a maintenance instruction, etc. The location information sub-identifier and the point attribute sub-identifier in the ground marker have been described in the aforementioned ground marker embodiments; please refer to the relevant descriptions in the aforementioned ground marker embodiments, and they will not be repeated here. The mobile robot scans the location information sub-identifier of the ground marker at its current physical node, that is, the location information sub-identifier of the ground marker set at the third physical node, to obtain the third position in the same way as in the aforementioned ground marker embodiments, where the mobile robot obtains the position coordinates represented by the location information sub-identifier; please refer to the relevant descriptions in the aforementioned ground marker embodiments, and they will not be repeated here.

[0328] In S1302, if the third position is v1', then the map node v1 representing v1' is searched in the topology map and used as the third map node. If the first task instruction is to instruct the mobile robot to move to map node v6, then the mobile robot searches for map node v6 in the topology map.

[0329] Corresponding to the above Figure 12 The embodiment shown can locate the fourth map node indicated by the first task instruction by: determining the function required to execute the first task instruction as the target function; and locating a map node representing the target function as the fourth map node.

[0330] For example, assuming the first task instruction is to instruct the mobile robot to charge, the function required to execute the first task instruction is the charging position, and the charging position is taken as the target function. According to... Figure 12 In the topology map constructed in the illustrated embodiment, map nodes can represent the location coordinates and functions of physical nodes. Based on the functions represented by each map node, a map node that can represent the target function of a charging position can be found and used as the fourth map node.

[0331] By using this embodiment, since the topology map can reflect the functions corresponding to each physical node, the mobile robot can directly determine the fourth map node in the topology map according to the functions required to execute the first task instruction. This makes it easier for the mobile robot to execute the first task instruction, enabling the mobile robot to perform tasks more intelligently.

[0332] In S1303, the topological nodes in the topological map can represent the position coordinates of each physical node in the target task area, and the topological edges can represent all possible running directions of the mobile robot at each physical node. Therefore, the mobile robot can determine the running route from the third map node to the fourth map node according to the topological map, and run according to the determined running route to execute the first task instruction.

[0333] For example, suppose the topology map is Figure 8 As shown, the third map node is v2 and the fourth map node is v5. The route determined by the mobile robot can be: v2→v4→v5, or it can be: v2→v1→v4→v5.

[0334] S1301-S1303 have been described exemplarily above. It is understood that due to the different devices set up in the target task area, the running speed of the mobile robot may differ between different physical nodes in the target task area, and the precautions required may also differ, i.e., the running rules may differ. Based on this, to facilitate the mobile robot's movement according to preset running rules during its movement, in one possible embodiment, each ground marker also includes a running rule area. The running rule area is used to cooperate with running rule sub-markers, so that the running rule sub-markers can be detachably set in the running rule area. In this embodiment, see... Figure 14 The aforementioned S1303, operating according to the route, includes:

[0335] S1401 runs along the route according to the target operating rules until it reaches the next physical node.

[0336] The target operating rule is initially a preset operating rule, or an operating rule represented by the operating rule sub-identifier set in the operating rule area of ​​the ground identifier at the third physical node.

[0337] The preset operating rules can be the operating rules set by the user at the beginning based on the restrictions on the operation of the mobile robot in the target task area.

[0338] If the ground marker at the third physical node where the mobile robot is initially located has a sub-marker for the operation rule, then the target operation rule is initially the operation rule represented by the sub-marker for the operation rule at the third physical node. The mobile robot starts running from the third physical node according to the target operation rule until it reaches the next physical node.

[0339] If the ground marker at the third physical node where the mobile robot is initially located does not have a sub-marker for the operation rule, the target operation rule is initially the preset operation rule. The mobile robot starts running from the third physical node according to the preset operation rule until it reaches the next physical node.

[0340] S1402, if the ground identifier of the physical node to which the operation is performed has a sub-identifier for the operation rule, then scan the sub-identifier for the operation rule to obtain the operation rule represented by the sub-identifier for the operation rule, and use the obtained operation rule as the new target operation rule.

[0341] The way in which the mobile robot obtains the operating rule represented by the operating rule sub-identifier by scanning the operating rule sub-identifier is the same as the way in which the mobile robot obtains the first position in the aforementioned S701. Please refer to the relevant description in the aforementioned S701, which will not be repeated here.

[0342] If the ground marker of the physical node to which the robot is to be located has a sub-identifier for the operation rule, the mobile robot needs to operate according to the operation rule represented by the sub-identifier. Therefore, the mobile robot needs to scan the sub-identifier for the operation rule in the ground marker of the physical node to which the robot is to be located, obtain the operation rule represented by the sub-identifier, and use the obtained operation rule as the new target operation rule so that the mobile robot can operate according to the new target operation rule.

[0343] If the ground marker of the physical node to which the robot is to be run does not have a sub-marker for the operation rule, the target operation rule will not change and will remain the target operation rule in S1401. The mobile robot will continue to operate according to the target operation rule in S1401.

[0344] S1403, return to execute the steps of running along the running route according to the target running rules, until the physical node reached is the end point of the running route.

[0345] The mobile robot runs along the route according to the target running rules determined in S1402, repeating the aforementioned S1401-S1402 until the mobile robot reaches the end of the running route.

[0346] By using this embodiment, the operation rule sub-identifiers are set in the operation rule area marked on the ground. This allows the mobile robot to obtain the rules it needs to follow during operation by scanning the operation rule sub-identifiers. The mobile robot can then run along the operation route according to the target operation rule, thereby improving the ease of operation of the mobile robot.

[0347] It is understood that there may be multiple different running directions at the same physical node, and different running directions may correspond to different running rules. Therefore, in order to facilitate the determination of the rules that the mobile robot needs to follow when running along the running route, in one possible embodiment, the number of running rule sub-identifiers is the same as the number of directions represented by the point attribute sub-identifiers of the corresponding ground identifier, and each running rule sub-identifier corresponds to one of the directions represented by the point attribute sub-identifiers, with different running rule sub-identifiers corresponding to different directions. In this embodiment, the aforementioned S1402 includes:

[0348] S1402a, determine the direction of movement of the mobile robot after it reaches the physical node based on the running route, and use it as the target direction.

[0349] See Figure 8 Assuming the route is v2→v4→v5, and the mobile robot reaches physical node v4, then according to the route, the mobile robot should move towards v5 along the e8 direction from v4. Therefore, the target direction is the direction from physical node v4 to physical node v5, which is the e8 direction. The setting of the sub-identifier for the running rule has been explained earlier; please refer to the previous explanation of the running sub-rules. It will not be repeated here.

[0350] S1402b: If the ground identifier of the physical node to which the operation is run has a running rule sub-identifier set in the running rule area corresponding to the target direction, then scan the running rule sub-identifier set in the running rule area corresponding to the target direction to obtain the running rule represented by the running rule sub-identifier set in the running rule area corresponding to the target direction, and use the obtained running rule as the new target running rule.

[0351] If the ground marker of the physical node to which the robot is running has a sub-marker of the running rule in the running rule area corresponding to the target direction, the mobile robot needs to run according to the running rule represented by the sub-marker of the running rule in the running rule area corresponding to the target direction. Therefore, the mobile robot needs to scan the sub-marker of the running rule in the running rule area corresponding to the target direction to obtain the running rule represented by the sub-marker of the running rule in the running rule area corresponding to the target direction, and use the obtained running rule as the new target running rule so that the mobile robot can run according to the new target running rule.

[0352] If the ground marker of the physical node to which the robot is running does not have a running rule sub-marker set in the running rule area corresponding to the target direction, the target running rule will not change and will remain the target running rule in S1401. The mobile robot will continue to run according to the target running rule in S1401.

[0353] By using this embodiment, different operation rule areas can be corresponding to different directions. The operation rule sub-identifiers representing the operation rules corresponding to different operation directions can be set separately in different operation rule areas. By changing the operation sub-identifier in the operation rule area corresponding to a certain operation direction, the operation rules for that operation direction can be modified. This makes it easy to adjust the operation rules corresponding to different operation directions according to different situations, improves the convenience of ground identification setting, and makes it easier for mobile robots to determine their own operation rules according to their own operation direction, thus improving the convenience of obtaining information during the operation of mobile robots.

[0354] Corresponding to the aforementioned topology map construction method, this application also provides a topology map construction device applied to a mobile robot. The mobile robot is deployed in a target task area, which has been previously constructed using any of the aforementioned ground marking methods, such as... Figure 15 As shown, the device includes:

[0355] The marker scanning module 1501 is used to scan the location information sub-markers and point attribute sub-markers of the ground markers set at all physical nodes in the target task area, respectively, to obtain the position coordinates represented by each location information sub-marker and the direction represented by each point attribute sub-marker;

[0356] The map building module 1502 is used to build a topological map of the target task area based on the information obtained from scanning, so that the mobile robot can perform tasks according to the topological map.

[0357] The topology map includes multiple map nodes and multiple edges. Each map node corresponds to a different physical node and is used to represent the location coordinates represented by the positioning information sub-identifier set at the corresponding physical node. The edges of each map node are used to represent the direction represented by the point attribute sub-identifier set at the corresponding physical node.

[0358] In one possible embodiment, the location information sub-identifiers and point attribute sub-identifiers of the ground markers set at all physical nodes in the target task area are scanned respectively to obtain the position coordinates represented by each location information sub-identifier and the direction represented by each point attribute sub-identifier, including:

[0359] Scan the location information sub-identifiers and point attribute sub-identifiers of the ground markers set at all physical nodes in the target task area to obtain the location coordinates represented by each location information sub-identifier, as well as the direction and function represented by each point attribute sub-identifier;

[0360] Map nodes in a topology map are also used to represent the functions represented by the point attribute sub-identifiers set at the corresponding physical nodes.

[0361] In one possible embodiment, the location information sub-identifiers and point attribute sub-identifiers of the ground markers set at all physical nodes in the target task area are scanned respectively to obtain the position coordinates represented by each location information sub-identifier and the direction represented by each point attribute sub-identifier, including:

[0362] Scan the positioning information sub-identifier of the ground marker set at the first physical node of the target task area, and obtain the position coordinates represented by the positioning information sub-identifier as the first position;

[0363] Scan the sub-identifiers of the ground markers at the current physical node to obtain the direction represented by the sub-identifiers, and use it as the first running direction. The current physical node is initially the first physical node.

[0364] For each first running direction, run along the first running direction to the next physical node, which becomes the second physical node;

[0365] For each second physical node, scan the positioning information sub-identifier of the ground marker set at the second physical node to obtain the position coordinates represented by the positioning information sub-identifier, which is used as the second position of the second physical node;

[0366] Select a node from the second physical nodes that has not been the current physical node, and use it as the new current physical node. Then return to the step of scanning the point attribute sub-identifiers of the ground markers at the current physical node until there are no second physical nodes that have not been the current physical node.

[0367] Based on the information obtained from the scan, a topological map of the target task area is constructed, including:

[0368] In response to the step of scanning the positioning information sub-identifier of the ground identifier set at the first physical node of the target task area and obtaining the position coordinates represented by the positioning information sub-identifier as the first position, a first map node is generated in the topology map of the target task area to represent the first position.

[0369] In response to the step of scanning the location information sub-identifier of the ground identifier set at the second physical node for each second physical node, and obtaining the location coordinates represented by the location information sub-identifier as the second location of the second physical node, for each second physical node, a second map node is generated in the topology map to represent the second location of the second physical node, and an edge is generated from the current map node to the second map node, wherein the current map node is a map node used to represent the location coordinates of the current physical node.

[0370] In one possible embodiment, for each second physical node, a second map node representing the second location of the second physical node is generated in the topology map, and an edge pointing from the current map node to the second map node is generated, including:

[0371] For each second physical node, find the second map node in the topology map that represents the second location of the second physical node;

[0372] If a second map node is found, an edge is generated in the topology map pointing from the current map node to the found second map node;

[0373] If the second map node is not found, a second map node is generated in the topology map to represent the second location of the second physical node, and an edge is generated from the current map node to the second map node.

[0374] In one possible embodiment, the device further includes:

[0375] The addition module is used to add a node to the set of nodes to be explored before selecting a node that has not been the current physical node from the second physical nodes as the new current physical node. For each second physical node, if the explored node set does not contain the second physical node, the second physical node is added to the set of nodes to be explored. The explored node set is initially empty, and the set of nodes to be explored initially includes the first physical node.

[0376] The removal module is used to generate a second map node in the topology map to represent the second location of the second physical node for each second physical node, and generate an edge from the current map node to the second map node. Then, it removes the current physical node from the set of nodes to be explored and adds the current physical node to the set of explored nodes.

[0377] Select a node from the second physical nodes that has not been the current physical node, and designate it as the new current physical node. Then return to the step of scanning the point attribute sub-identifiers of the ground markers at the current physical node, until there are no second physical nodes that have not been the current physical node, including:

[0378] Select a node from the set of nodes to be explored as the new current physical node, and return to the step of scanning the sub-identifiers of the point attributes of the ground markers at the current physical node, until the set of nodes to be explored is empty.

[0379] Corresponding to the aforementioned robot movement method, this application also provides a robot movement device applied to a mobile robot. The mobile robot is deployed in a target task area, which has been pre-constructed according to any of the aforementioned ground marking construction methods, such as... Figure 16 As shown, the device includes:

[0380] The position acquisition module 1601 is used to respond to the first task instruction, scan the positioning information sub-identifier of the ground marker set at the third physical node of the target task area, and obtain the position coordinates represented by the positioning information sub-identifier as the third position, wherein the third physical node is the physical node where the mobile robot itself is located.

[0381] The map node lookup module 1602 is used to find a map node representing a third location in the topological map of the target task area, and to find the fourth map node indicated by the first task instruction, wherein the topological map is constructed according to any of the aforementioned topological map construction methods.

[0382] The route planning module 1603 is used to plan the route from the third map node to the fourth map node based on the topological relationship between the map nodes in the topological map, and run according to the route.

[0383] In one possible embodiment, each ground identifier further includes a running rule area, which is used to cooperate with running rule sub-identifiers so that the running rule sub-identifiers can be detachably set in the running rule area;

[0384] It operates according to the route, including:

[0385] The system runs along the route according to the target operating rules until it reaches the next physical node. The target operating rules are initially preset operating rules, or the operating rules represented by the sub-identifier of the operating rules in the operating rule area marked on the ground at the third physical node.

[0386] If the ground identifier of the physical node to which the operation is run has a running rule sub-identifier set, then scan the running rule sub-identifier to obtain the running rule represented by the running rule sub-identifier, and use the obtained running rule as the new target running rule;

[0387] Return to the execution steps that follow the target execution rules along the execution route until the physical node reached is the end point of the execution route.

[0388] This application also provides a mobile robot, such as... Figure 17 As shown, it includes:

[0389] Scanner 1701 is used to scan ground markings;

[0390] Memory 1702 is used to store computer programs;

[0391] When processor 1703 executes a program stored in memory 1702, it performs the following steps:

[0392] Scan the location information sub-identifiers and point attribute sub-identifiers of the ground markers set at all physical nodes in the target task area to obtain the location coordinates represented by each location information sub-identifier and the direction represented by each point attribute sub-identifier;

[0393] Based on the information obtained from the scan, a topological map of the target task area is constructed so that the mobile robot can perform tasks according to the topological map;

[0394] The topology map includes multiple map nodes and multiple edges. Each map node corresponds to a different physical node and is used to represent the location coordinates represented by the positioning information sub-identifier set at the corresponding physical node. The edges of each map node are used to represent the direction represented by the point attribute sub-identifier set at the corresponding physical node.

[0395] or,

[0396] In response to the first task instruction, the positioning information sub-identifier of the ground marker set at the third physical node of the target task area is scanned, and the position coordinates represented by the positioning information sub-identifier are obtained as the third position, wherein the third physical node is the physical node where the mobile robot itself is located.

[0397] In the topology map of the target task area, find the map node that represents the third location as the third map node, and find the fourth map node indicated by the first task instruction. The topology map is constructed according to any of the aforementioned topology map construction methods.

[0398] Based on the topological relationships between the map nodes in the topological map, the running route from the third map node to the fourth map node is planned and the operation is carried out according to the running route.

[0399] Furthermore, the aforementioned electronic device may also include a communication bus and / or a communication interface, with the processor 1703, the communication interface, and the memory 1702 communicating with each other via the communication bus.

[0400] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0401] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0402] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0403] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0404] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described topology map construction methods or robot movement methods.

[0405] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the topology map construction methods or robot movement methods described above.

[0406] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0407] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0408] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments for ground markings, devices, robots, computer-readable storage media, and computer program products containing instructions are basically similar to the method embodiments, and therefore the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0409] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A ground marking, characterized in that The ground markings include the main structure and location attribute sub-markers; The point attribute sub-identifier is set on the first surface of the main structure. The point attribute sub-identifier is used to enable the mobile robot to read the direction represented by the point attribute sub-identifier, or the direction and function, when scanned by the mobile robot. The first surface of the main structure has a visual element corresponding to the content represented by the point attribute sub-identifier, wherein the visual element includes at least one of outline, pattern and color, and different content corresponds to different visual elements; A positioning information area is also provided on the first surface of the main structure; The positioning information area is used to cooperate with the positioning information sub-identifier so that the positioning information sub-identifier can be detachably set in the positioning information area. When the positioning information sub-identifier is scanned by the mobile robot, the mobile robot can read the position coordinates represented by the positioning information sub-identifier.

2. The floor marking of claim 1, wherein, The first surface of the main structure is also provided with an operating rule area; The operation rule area is used to cooperate with the operation rule sub-identifier so that the operation rule sub-identifier can be detachably set in the operation rule area. When the operation rule sub-identifier is scanned by the mobile robot, the mobile robot can read the operation rule represented by the operation rule sub-identifier.

3. The floor marking of claim 2, wherein, The direction represented by the point attribute sub-identifier is n different first directions, where n is an integer greater than 1; The number of the operation rule areas is n, the number of the point attribute sub-identifiers is n, and the n operation rule areas are respectively set in different first directions of the positioning information area, and the n point attribute sub-identifiers are respectively set in different first directions of the positioning information area.

4. The floor marking of claim 1, wherein, The direction represented by the point attribute sub-identifier is n different first directions, where n is an integer greater than 1; The number of the positioning information area is 1, and the number of the point attribute sub-identifiers is n, with the n point attribute sub-identifiers respectively set in different first directions of the positioning information area.

5. A floor marking according to any of claims 1-4, characterized in that The number of the positioning information areas is one, and it is located at the geometric center of the first surface.

6. A method of installing a ground marking, characterized in that The method includes: For each physical node in the target task area, determine all possible running directions of the mobile robot when it is at the physical node, or determine all possible running directions of the mobile robot when it is at the physical node and the functions of the physical node, as the node content corresponding to the physical node; For each physical node, according to the node content corresponding to the physical node, a ground marker as described in any one of claims 1-5 is set on the physical node, wherein the content represented by the point attribute sub-marker in the ground marker set for each physical node is the same as the node content corresponding to the physical node, and each ground marker is set on each physical node with its first face facing away from the ground. For each physical node, a positioning information sub-identifier representing the location coordinates of the physical node is set in the positioning information area of ​​the ground marker at the physical node.

7. The method of claim 6, wherein, Each ground marker includes one positioning information area and m point attribute sub-markers, where m is the number of directions represented by the point attribute sub-markers in the ground marker; and the m point attribute sub-markers are respectively set in different directions of the positioning information area.

8. The method of claim 6, wherein, The first surface of the main structure of each of the aforementioned ground markings is also provided with an operation rule area; The method further includes: For each physical node, determine the operating rules that the mobile robot must follow after arriving at the physical node, and use them as the operating rules corresponding to the physical node; For each physical node, the sub-identifier of the operation rule corresponding to the physical node is set in the operation rule area of ​​the ground identifier at the physical node.

9. The method of claim 8, wherein, The step of setting the sub-identifier of the operation rule corresponding to the physical node in the operation rule area of ​​the ground identifier at the physical node includes: If the operating rules corresponding to the physical node are different from the operating rules corresponding to the upstream node of the physical node, then the operating rule sub-identifier representing the operating rules corresponding to the physical node is set in the operating rule area of ​​the ground identification at the physical node, wherein the upstream node is the node that the mobile robot previously reached before reaching the physical node.

10. The method of claim 8, wherein, Each ground marker includes m operation rule areas and m point attribute sub-markers, where m is the number of directions represented by the point attribute sub-markers in the ground marker; and the m operation rule areas are respectively set in different directions of the positioning information area; The determination of the operating rules that the mobile robot must follow after arriving at the physical node, as the operating rules corresponding to the physical node, includes: For each possible running direction of the mobile robot at the physical node, determine the running rules that the mobile robot must follow when moving in the running direction after reaching the physical node, and use these as the running rules corresponding to the physical node and the running direction; The step of setting the sub-identifier of the operation rule corresponding to the physical node in the operation rule area of ​​the ground identifier at the physical node includes: For each running direction, a running rule sub-identifier representing the running rule corresponding to the physical node and the running direction is set in the target running rule area of ​​the ground identifier at the physical node, wherein the target running rule area is the running rule area in the running direction located in the positioning information area of ​​the ground identifier.

11. A topology map construction method characterized by comprising: This method is applied to mobile robots deployed in a target task area, which has been pre-constructed using the ground marking construction method according to any one of claims 6-10, the method comprising: The location information sub-identifiers and point attribute sub-identifiers of the ground markers set at all physical nodes in the target task area are scanned respectively to obtain the position coordinates represented by each location information sub-identifier and the direction represented by each point attribute sub-identifier; Based on the information obtained from the scan, a topological map of the target task area is constructed so that the mobile robot can perform tasks according to the topological map; The topology map includes multiple map nodes and multiple edges. Each map node corresponds to a different physical node and is used to represent the location coordinates represented by the positioning information sub-identifier set at the corresponding physical node. The edges of each map node are used to represent the direction represented by the point attribute sub-identifier set at the corresponding physical node.

12. The method of claim 11, wherein, The step of scanning the location information sub-identifiers and point attribute sub-identifiers of the ground markers set at all physical nodes in the target task area to obtain the position coordinates represented by each location information sub-identifier and the direction represented by each point attribute sub-identifier includes: The location information sub-identifiers and point attribute sub-identifiers of the ground markers set at all physical nodes in the target task area are scanned respectively to obtain the location coordinates represented by each location information sub-identifier, as well as the direction and function represented by each point attribute sub-identifier; The map nodes in the topology map are also used to represent the functions represented by the point attribute sub-identifiers set at the corresponding physical nodes.

13. The method of claim 11, wherein, The step of scanning the location information sub-identifiers and point attribute sub-identifiers of the ground markers set at all physical nodes in the target task area to obtain the position coordinates represented by each location information sub-identifier and the direction represented by each point attribute sub-identifier includes: Scan the positioning information sub-identifier of the ground marker set at the first physical node of the target task area, and obtain the position coordinates represented by the positioning information sub-identifier as the first position; Scan the sub-identifiers of the ground markers at the current physical node to obtain the direction represented by the sub-identifiers, which is used as the first running direction. The current physical node is initially the first physical node. For each of the first running directions, run along the first running direction to the next physical node, which becomes the second physical node; For each second physical node, the positioning information sub-identifier of the ground marker set at the second physical node is scanned to obtain the position coordinates represented by the positioning information sub-identifier, which is used as the second position of the second physical node; Select a node from the second physical nodes that has not been the current physical node, and use it as the new current physical node. Then return to the step of scanning the point attribute sub-identifier of the ground identifier at the current physical node until there is no second physical node that has not been the current physical node. The step of constructing a topological map of the target task area based on the information obtained from the scan includes: In response to the step of scanning the location information sub-identifier of the ground marker set at the first physical node of the target task area and obtaining the location coordinates represented by the location information sub-identifier as the first location, a first map node for representing the first location is generated in the topology map of the target task area. In response to the step of scanning the location information sub-identifier of the ground marker set at the second physical node for each second physical node, and obtaining the location coordinates represented by the location information sub-identifier as the second location of the second physical node, for each second physical node, a second map node is generated in the topology map to represent the second location of the second physical node, and an edge is generated from the current map node to the second map node, wherein the current map node is a map node used to represent the location coordinates of the current physical node.

14. The method of claim 13, wherein, For each second physical node, generating a second map node in the topology map to represent the second location of the second physical node, and generating edges from the current map node to the second map node, includes: For each second physical node, find a second map node in the topology map to represent the second location of the second physical node; If a second map node is found, an edge is generated in the topology map pointing from the current map node to the found second map node; If the second map node is not found, a second map node is generated in the topology map to represent the second location of the second physical node, and an edge is generated from the current map node to the second map node.

15. The method according to claim 13, characterized in that, Before selecting a node from the second physical nodes that has not been the current physical node as the new current physical node, the method further includes: For each second physical node, if the explored node set does not contain the second physical node, the second physical node is added to the node set to be explored. The explored node set is initially an empty set, and the node set to be explored initially includes the first physical node. After generating a second map node in the topology map to represent the second location of the second physical node for each second physical node, and generating an edge pointing from the current map node to the second map node, the method further includes: Remove the current physical node from the set of nodes to be explored, and add the current physical node to the set of explored nodes; The step of selecting a node from the second physical nodes that has not been the current physical node as the new current physical node, and returning to execute the step of scanning the point attribute sub-identifiers of the ground markers at the current physical node, until there are no second physical nodes that have not been the current physical node, includes: Select a node from the set of nodes to be explored as the new current physical node, and return to the step of scanning the point attribute sub-identifier of the ground identifier at the current physical node, until the set of nodes to be explored is empty.

16. A robot movement method, characterized in that, This method is applied to mobile robots deployed in a target task area, which has been pre-constructed using the ground marking construction method according to any one of claims 6-10, the method comprising: In response to the first task instruction, the positioning information sub-identifier of the ground marker set at the third physical node of the target task area is scanned to obtain the position coordinates represented by the positioning information sub-identifier as the third position, wherein the third physical node is the physical node where the mobile robot itself is located. In the topology map of the target task area, a map node representing the third location is found as the third map node, and a fourth map node indicated by the first task instruction is found, wherein the topology map is constructed according to the topology map construction method according to any one of claims 11-15; Based on the topological relationships between the map nodes in the topological map, the running route from the third map node to the fourth map node is planned and the operation is carried out according to the running route.

17. The method according to claim 16, characterized in that, Each ground sign also includes an operation rule area, which is used to cooperate with operation rule sub-identifiers so that the operation rule sub-identifiers can be detachably set in the operation rule area; The operation according to the stated route includes: The system runs along the route according to the target operating rules until it reaches the next physical node. The target operating rules are initially preset operating rules, or the operating rules represented by the sub-identifier of the operating rules in the operating rule area marked on the ground at the third physical node. If the ground identifier of the physical node to which the operation is run has a running rule sub-identifier, then scan the running rule sub-identifier to obtain the running rule represented by the running rule sub-identifier, and use the obtained running rule as the new target running rule; Return to the step of running along the running route according to the target running rules until the physical node reached is the end point of the running route.

18. A topological map construction device, characterized in that, An apparatus applicable to a mobile robot deployed in a target task area, the target task area having been pre-constructed according to any one of the ground marking construction methods described in claims 6-10, the apparatus comprising: The identification scanning module is used to scan the positioning information sub-identifiers and point attribute sub-identifiers of the ground identifications set at all physical nodes in the target task area, respectively, to obtain the position coordinates represented by each positioning information sub-identifier and the direction represented by each point attribute sub-identifier; The map building module is used to build a topological map of the target task area based on the information obtained from scanning, so that the mobile robot can perform tasks according to the topological map; The topology map includes multiple map nodes and multiple edges. Each map node corresponds to a different physical node and is used to represent the location coordinates represented by the positioning information sub-identifier set at the corresponding physical node. The edges of each map node are used to represent the direction represented by the point attribute sub-identifier set at the corresponding physical node.

19. A robot mobile device, characterized in that, An apparatus applicable to a mobile robot deployed in a target task area, the target task area having been pre-constructed according to any one of the ground marking construction methods described in claims 6-10, the apparatus comprising: The location acquisition module is used to respond to the first task instruction, scan the positioning information sub-identifier of the ground marker set at the third physical node of the target task area, and obtain the position coordinates represented by the positioning information sub-identifier as the third position, wherein the third physical node is the physical node where the mobile robot itself is located. The map node search module is used to search for a map node representing the third location in the topological map of the target task area, as the third map node, and to search for the fourth map node indicated by the first task instruction, wherein the topological map is constructed according to the topological map construction method according to any one of claims 11-15; The route planning module is used to plan the route from the third map node to the fourth map node based on the topological relationship between each map node in the topological map, and to run according to the route.

20. A mobile robot, characterized in that, include: Scanner, used to scan ground markings; Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method of any one of claims 11-15 or 16-17.

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