CN112395376A - Map construction method and device, storage medium and electronic device - Google Patents
Map construction method and device, storage medium and electronic device Download PDFInfo
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Abstract
The invention provides a map construction method and device, a storage medium and an electronic device, wherein the method comprises the following steps: acquiring a group of area information and a group of site information of a target area based on information acquisition of a first robot in the target area, wherein the group of site information is used for representing positions of a group of sites in the target area; constructing a target map of the target area according to the group of area information, and marking the positions of the group of sites represented by the group of site information in the target map; a target path is created on the target map based on the locations of the marked set of stations, wherein the target path is for the second robot to move in the target area. By the method and the device, the problems of low construction efficiency and high labor cost in construction of the map and the path in the related technology are solved.
Description
Technical Field
The invention relates to the field of robots, in particular to a map construction method and device, a storage medium and an electronic device.
Background
At present, in order to facilitate autonomous movement of a robot in a specific scene, robot mapping may be performed in the specific scene, so as to implement mapping in the specific scene.
For robot mapping, a worker is required to control the robot (e.g., push the robot or remotely control the robot through a remote controller) to walk in a scene to be mapped, acquire spatial feature information in the scene, and then generate a map. The manner of collecting the spatial feature information may be: light Detection And Ranging (laser Detection And measurement, i.e., Lidar) point cloud features And/or image features are collected.
After the map is generated, the staff needs to control the robot again to create the station according to the path that the robot wants to walk in the scene, and connect the station according to the minimum path principle to generate the robot path.
Therefore, in order to build a map and a path, a worker needs to push the robot 2 times in a scene to be mapped, and the space range of the scene to be mapped is generally large, so that the problems of low building efficiency and high labor cost exist in the building of the map and the path.
Therefore, the construction of the map and the path in the related art has the problems of low construction efficiency and high labor cost.
Disclosure of Invention
The embodiment of the invention provides a map construction method and device, a storage medium and an electronic device, and aims to at least solve the problems of low construction efficiency and high labor cost in the construction of maps and paths in the related art.
According to an embodiment of the present invention, there is provided a map construction method including: acquiring a group of area information and a group of site information of a target area based on information acquisition of a first robot in the target area, wherein the group of site information is used for representing positions of a group of sites in the target area; constructing a target map of the target area according to the group of area information, and marking the positions of the group of sites represented by the group of site information in the target map; a target path is created on the target map based on the locations of the marked set of stations, wherein the target path is for the second robot to move in the target area.
Optionally, creating a target path on the target map according to the locations of the marked group of sites comprises: determining a plurality of target sites in a group of sites for creating a target path; the target path is created on the target map by connecting adjacent two target sites of the plurality of target sites, respectively.
Optionally, after the target path is created on the target map, the method further includes: generating a passable area corresponding to the target path according to the passable width of each target station, wherein the area except the passable area in the target map is an entrance prohibition area of the second robot; in controlling the second robot to move along the target path, the second robot is controlled to move within the passable area.
Optionally, after the target path is created on the target map, the method further includes: detecting a first operation performed on a first station on a target path, wherein the first operation is used for removing the first station from the target path; responding to the first operation, and removing a path between two adjacent stations which are used for connecting the first station and the first station on the target path; and connecting the two adjacent sites to obtain the modified target path.
Optionally, after the target path is created on the target map, the method further includes: and setting a path point on a path between two adjacent stations in the group of stations at intervals of a preset length to obtain a path point set corresponding to the target path, wherein the path point set is used for controlling the second robot to move along the target path according to the sequence of the path points in the path point set.
Optionally, after marking the locations of the group of sites represented by the group of site information in the target map, the method further includes: detecting a second operation performed on the target map and a second site, wherein the second operation is used for changing an attribute value of a site attribute of the second site by using the target attribute value; and responding to the second operation, and changing the attribute value of the site attribute into a target attribute value.
Optionally, before constructing the target map of the target area according to the set of area information, the method further includes: constructing a first map corresponding to a first area according to first area information, wherein the first area information is area information corresponding to the first area in a target area in a group of area information; and establishing a first association relation between the third site and the first map according to the target site information, wherein the target site information is the site information corresponding to the third site in the first area in the group of site information, and the first association relation is used for representing the position of the third site in the first map.
Optionally, after establishing the first association relationship between the third site and the first map according to the target site information, the method further includes: constructing a second map according to a group of regional information, wherein the second map is an initial map of a target region; establishing a second incidence relation between the third site and the second map by using a group of site information, wherein the second incidence relation is used for representing the position of the third site in the second map; and adjusting the second map and the second association relation by using the first map and the first association relation to obtain the target map and the position of the third site in the target map.
According to another embodiment of the present invention, there is provided a map construction apparatus including: the acquisition module is used for acquiring a group of area information and a group of site information of the target area based on information acquisition of the first robot in the target area, wherein the group of site information is used for representing the positions of a group of sites in the target area; the first construction module is used for constructing a target map of a target area according to the group of area information and marking the positions of the group of sites represented by the group of site information in the target map; a creation module to create a target path on a target map according to the marked locations of the set of sites, wherein the target path is for the second robot to move in the target area.
Optionally, the creating module includes: a determining unit, configured to determine a plurality of target sites in a group of sites for creating a target path; and the creating unit is used for creating the target path on the target map by respectively connecting two adjacent target sites in the plurality of target sites.
Optionally, the apparatus further comprises: the generating module is used for generating a passable area corresponding to the target path according to the passable width of each target station after the target path is created on the target map, wherein the area except the passable area in the target map is an entrance-forbidden area of the second robot; and the control module is used for controlling the second robot to move in the passable area in the process of controlling the second robot to move along the target path.
Optionally, the apparatus further comprises: the system comprises a first detection module, a second detection module and a third detection module, wherein the first detection module is used for detecting a first operation executed on a first station on a target path after the target path is created on a target map, and the first operation is used for removing the first station from the target path; a removing module, configured to remove, in response to the first operation, a path between two adjacent sites on the target path, the two adjacent sites being used to connect the first site with the first site; and the connecting module is used for connecting the two adjacent sites to obtain the modified target path.
Optionally, the apparatus further comprises: and the setting module is used for setting a path point on a path between two adjacent stations in the group of stations at intervals of a preset length after a target path is created on the target map to obtain a path point set corresponding to the target path, wherein the path point set is used for controlling the second robot to move along the target path according to the sequence of the path points in the path point set.
Optionally, the apparatus further comprises: the second detection module is used for detecting a second operation executed on the target map and a second site after the positions of a group of sites represented by a group of site information are marked in the target map, wherein the second operation is used for changing the attribute value of the site attribute of the second site by using the target attribute value; and the changing module is used for responding to the second operation and changing the attribute value of the site attribute into the target attribute value.
Optionally, the apparatus further comprises: the second construction module is used for constructing a first map corresponding to the first area according to the first area information before constructing a target map of the target area according to the group of area information, wherein the first area information is the area information corresponding to the first area in the target area in the group of area information; the first establishing module is used for establishing a first association relationship between the third site and the first map according to the target site information, wherein the target site information is the site information corresponding to the third site in the first area in the group of site information, and the first association relationship is used for representing the position of the third site in the first map.
Optionally, the apparatus further comprises: the third construction module is used for constructing a second map according to a group of regional information after establishing a first incidence relation between a third site and the first map according to the target site information, wherein the second map is an initial map of a target region; the second establishing module is used for establishing a second incidence relation between the third site and the second map by using the group of site information, wherein the second incidence relation is used for representing the position of the third site in the second map; and the adjusting module is used for adjusting the second map and the second association relation by using the first map and the first association relation to obtain the target map and the position of the third site in the target map.
According to yet another embodiment of the present invention, there is also provided a storage medium having a computer program stored therein, wherein the computer program is configured to execute the above map construction method when running.
According to another aspect of the embodiments of the present invention, there is also provided an electronic apparatus, including a memory and a processor, where the memory stores a computer program, and the processor is configured to execute the method described above through the computer program.
According to the invention, a group of area information and a group of site information of the target area are acquired based on the information acquisition of the first robot in the target area, the target map of the target area and the sites in the target area are respectively constructed based on the acquired group of area information and the acquired group of site information, so that the target path for the second robot to move in the target area is created, thereby the map (map) and the site (site for robot movement) can be constructed synchronously once, and the path for the robot to move in the target area is established based on the established sites.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a block diagram of a hardware configuration of a server of a map construction method according to an embodiment of the present invention;
FIG. 2 is a flow chart of an alternative map construction method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an alternative map construction method according to an embodiment of the invention;
FIG. 4 is a schematic diagram of an alternative map construction method according to an embodiment of the invention;
fig. 5 is a block diagram of an alternative map construction apparatus according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the embodiments of the present application may be executed in a server, a robot, or a similar computing device. Taking an example of the map building method running on a server, fig. 1 is a block diagram of a hardware structure of the server according to the map building method of the embodiment of the present invention. As shown in fig. 1, the server 10 may include one or more (only one shown in fig. 1) processors 102 (the processors 102 may include, but are not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, and optionally may also include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and is not intended to limit the structure of the server. For example, the server 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program and a module of application software, such as a computer program corresponding to the map building method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 104 may further include memory located remotely from processor 102, which may be connected to server 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the server 10. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
Optionally, the server may be a single server, a server cluster composed of a plurality of servers, or a cloud server.
Optionally, in this embodiment, as an optional implementation manner, the method may be executed by a server, may also be executed by a robot, or is executed by both the server and the robot. As shown in fig. 2, the flow of the map building method may include the steps of:
step S202, acquiring a group of area information and a group of site information of the target area based on information acquisition of the first robot in the target area, wherein the group of site information is used for representing positions of a group of sites in the target area;
step S204, according to the group of regional information, a target map of the target region is constructed, and the positions of a group of sites represented by the group of site information are marked in the target map;
step S206, a target path is created on the target map according to the positions of the marked group of stations, wherein the target path is used for the second robot to move in the target area.
Alternatively, the map building device may be, but not limited to, building a moving path of the robot in the target area, or other processes that require determining the moving path of the robot in the target area.
According to the embodiment, a group of area information and a group of site information of the target area are acquired based on information acquisition of the first robot in the target area, the target map of the target area and the sites in the target area are respectively constructed based on the acquired group of area information and the acquired group of site information, so that the target path for the second robot to move in the target area is created, and therefore, one-time implementation can be realized, map construction (map) and site construction (sites where the robot moves) are synchronously performed, and further, the path for the robot to move in the target area is established based on the established sites.
In step S202, a set of area information and a set of station information of the target area are obtained based on information acquisition of the first robot in the target area, where the set of station information is used to indicate positions of a set of stations in the target area.
The robots (the first robot, the second robot, and the like) may be delivery robots that deliver articles in the same building. Within the same building, the delivery robot can move according to a moving path configured by a server (e.g., a cloud server). The cloud can configure the movement paths of all connected robots.
In order to configure the movement path of the robot, the server may construct a target map of the target area. The staff member controls the robot (first robot) to walk in a scene to be mapped (target area, e.g., specific building), collects area information (e.g., Lidar point cloud features and/or image features), and performs site marking at a specific position. When the first robot moves for a circle along the boundary of the target area, the first robot can be determined to finish moving in the target area, a group of area information and a group of site information shot by the first robot are conveniently determined to be acquired, and the map construction efficiency is improved.
Optionally, the acquisition area information may be triggered periodically or by an event.
As an alternative embodiment, the first robot may periodically transmit the collected area information to the server. The server receives the regional information periodically sent by the first robot to obtain a group of regional information.
As another alternative, the first robot may send the collected area information to the server after detecting the first control operation performed on the first robot or a terminal device (e.g., a mobile phone terminal, a remote controller) associated with the first robot. And the server receives the area information sent by the first robot to obtain a group of area information.
Optionally, the first control operation may include, but is not limited to, at least one of: clicking a first button on the first robot, wherein the first button can be located at any position of the first robot, and can be a physical button or a virtual button; clicking a second button on the terminal equipment, wherein the second button can be a physical button or a virtual button; a specific operation performed on a specific part of the first robot, for example, a pressing operation, a turning operation, or the like performed on a pusher of the first robot.
When the first robot moves to a specific location within the target area, the location may be marked as a station, and for a station, the first robot may transmit station information of the station to the server (may be transmitted to the server together with the area information of the station). For a target area, a set of site information may be marked, which may include one or more site information.
Optionally, the site information may include at least one of: the information processing apparatus includes location information of a station, first indication information indicating area information corresponding to the station, and a station name.
Optionally, the first robot may be triggered to perform the dotting operation by a second control instruction. The second control instructions may include, but are not limited to, at least one of: clicking a third button on the first robot, wherein the third button can be located at any position of the first robot, and can be a physical button or a virtual button; clicking a fourth button on the terminal equipment associated with the first robot, wherein the fourth button can be a physical button or a virtual button; a specific operation performed on a specific part of the first robot, for example, a pressing operation, a turning operation, or the like performed on a pusher of the first robot.
For example, when the first robot moves to the door of the room 101 in the building, a first button controlling the first robot to acquire the area information and a third button controlling the first robot to click on a display screen of the robot (the first button and the third button may be the same button) may be clicked, the first robot is triggered to acquire the image feature of the current area and click on the current position, and the first robot sends the acquired image feature, the position information of the current position, and the identification information for identifying that the current position is a station to the server. The server can acquire the area information and the site information at the same time.
In an alternative embodiment, it is determined that the first robot has completed movement in the target area in a case where the first robot has moved one turn along the boundary of the target area before constructing the target map of the target area based on the set of area information.
The staff member can control the first robot to move one circle along the boundary of the target area (the area where the target area allows the first robot to move), and obtain a set of area information and a set of station information. The server determines that the first robot has completed moving in the target area in a case where it is determined that the first robot has moved one turn along the boundary of the target area.
The first robot may determine that the first robot moves one turn along the boundary of the target area after detecting the third control operation performed on the first robot or the terminal device associated with the first robot. Alternatively, after detecting a third control operation performed on the first robot or a terminal device associated with the first robot, the first robot transmits second indication information indicating that the first robot completes movement in the target area to the server, and the server may determine that the first robot moves one turn along the boundary of the target area after receiving the second indication information.
In step S204, a target map of the target area is constructed based on the set of area information, and the positions of the set of sites represented by the set of site information are marked in the target map.
After the first robot completes movement in the target area, a target map of the target area is constructed based on a set of area information.
After the first robot completes the movement of the target area, the server may construct a target map of the target area based on a set of area information. The target map may be constructed after the group of area information and the group of site information are acquired, or may be constructed according to the acquired area information and site information in the process of acquiring the group of area information and the group of site information.
In an alternative embodiment, before constructing the target map of the target area according to a set of area information, constructing a first map corresponding to a first area according to the first area information, wherein the first area information is the area information corresponding to the first area in the set of area information; and establishing a first association relation between the third site and the first map according to the target site information, wherein the target site information is the site information corresponding to the third site in the first area in the group of site information, and the first association relation is used for representing the position of the third site in the first map.
When the robot is used for building a map, the map can be built according to the collected regional information to obtain an intermediate result of the map building, points are built based on the intermediate result of the map building, and an association relationship between the map and the sites is built, wherein the association relationship is used for representing the position relationship between the sites and the map.
For example, based on the collected regional information, the server may construct a map representing a part of the target region (the region where the regional information has been collected by the first robot), and establish an association relationship between a site within the first region (a third site) and the first region (a position of the third site within the first region).
According to the embodiment, the intermediate result of map building and site building is obtained through the collected area information and site information, and the efficiency of building a target map and marking sites can be improved.
In an optional embodiment, after establishing a first association relationship between a third site and a first map according to the target site information, a second map is constructed according to a set of regional information, wherein the second map is an initial map of a target region; establishing a second incidence relation between the third site and the second map by using a group of site information, wherein the second incidence relation is used for representing the position of the third site in the second map; and adjusting the second map and the second association relation by using the first map and the first association relation to obtain the target map and the position of the third site in the target map.
An initial map of the target area may be constructed based on the set of area information, and a second association of the third site with the initial map (representing a location of the third site in the initial map) may be established using the set of site information. After the initial map and the second association relationship are obtained, the initial map may be optimized by using the first map, and the second association relationship may be optimized by using the first association relationship, so as to obtain a target map (final map) of a target area, and also obtain location information of a group of sites on the target map.
For example, when the optimization is performed after the graph is built, the optimization can be performed according to the intermediate result and the association relation of the built graph, so that the implementation is performed once, and the building of the graph and the building of the point are performed synchronously.
According to the method and the device, the initial results of the map building and the point building are optimized by using the intermediate results and the incidence relation of the map building, and the accuracy of the map building and the point building is improved.
After constructing the target map of the target area, the server may retrieve the constructed target map. The server for performing the map construction and the server for obtaining the target map may be the same server or different servers.
In addition to constructing a target map of the target area, the locations of a set of sites represented by a set of site information may be marked in the constructed target map.
After the target map is obtained, the site position corresponding to each site in the set of sites (corresponding to the set of site information) may be marked in the target map according to the position relationship between each site and the target map. The target map and the various sites may be presented by way of a graphical interface.
In an alternative embodiment, after marking the position of a group of sites represented by a group of site information in the target map, a second operation performed on the target map and a second site may be detected, wherein the second operation is configured to change an attribute value of a site attribute of the second site using the target attribute value; and responding to the second operation, and changing the attribute value of the site attribute into a target attribute value.
For each site displayed on the target map (which may be displayed by way of a site marker), the site attributes may be edited after detecting the attribute editing operation performed on the site marker. For example, the site attribute is edited in an attribute editing interface (a separate interface, or on the side of the current node) displayed after detecting a touch operation (click operation, double-click operation) performed on the site mark.
Optionally, the site attribute may include, but is not limited to, at least one of: right and left passable width of the station, direction of passage, station name, station sign.
According to the embodiment, the station attributes are edited, so that the path modification can be facilitated, and the control capability of the robot is improved.
In step S206, a target path is created on the target map according to the positions of the marked set of stations, wherein the target path is used for the second robot to move in the target area.
In an alternative embodiment, creating the target path on the target map based on the locations of the marked set of sites comprises: determining a plurality of target sites in a group of sites for creating a target path; the target path is created on the target map by connecting adjacent two target sites of the plurality of target sites, respectively.
In order to set the moving path of the robot, a plurality of target stations for creating the target path may be determined from a group of stations, and the plurality of target stations have a sequence to control the moving manner of the robot. The target path is created on the target map by connecting adjacent two target sites of the plurality of target sites, respectively.
After the target sites are determined, the adjacent relation of the target sites can be determined according to the sequence of the target sites in the configuration file, and the adjacent target sites are connected in sequence to obtain the target path.
For example, as shown in fig. 3, fig. 3 is a robot path edited and generated by the cloud, in which a plurality of sites are marked, including: "B6-a 501" (indicating a room, a conference room, or the like), "in gate," "out of gate," "5-floor call point," "2A," "4" (indicating an elevator number), and the like. The route formed by connecting the stations is a target path.
According to the embodiment, the target path is created on the target map by respectively connecting two adjacent target sites in the plurality of target sites for creating the target path, so that the path of the robot can be set, and the problem that the path is given by a specific algorithm and is not easy to modify is solved.
In an optional embodiment, after a target path is created on a target map, a passable area corresponding to the target path is generated according to the passable width of each target station, wherein the area except the passable area in the target map is an entrance prohibition area of the second robot; in controlling the second robot to move along the target path, the second robot is controlled to move within the passable area.
The passable area refers to an area where the robot is allowed to move. When the map is edited, the right and left passable widths of the site are edited, and when the route is generated, passable areas are generated according to the right and left passable widths. The robot superposes the passable area map and the barrier map when navigating and avoiding the barrier, and marks the area outside the passable area as the barrier, so that the robot cannot walk outside the passable area, and the robot is prevented from walking to a place which is easy to fall or a place where the robot is not expected to enter. The problem that some areas should not be walked by the robot but cannot be reflected on an original map due to sensor noise/defects can be solved.
For example, as shown in fig. 4, for an established target route, a passable area corresponding to the target route may be generated, wherein K, O, E, F, S and the like are stations on the route.
Through this embodiment, through the accessible region that sets up the robot to with the place that all the other barrier maps low order, can avoid the robot to walk the place that easily falls or do not want the robot to get into, reach the effect that improves the robot operation safety, and then solved and can't discern which region be that the robot should walk or should not walk the problem.
For the created target path, the target path can be modified conveniently by editing the target sites on the target path. The modifications to the target path may include, but are not limited to, at least one of: and deleting the target station on the target path and adding a new target station.
In an alternative embodiment, after creating the target path on the target map, a first operation performed on a first station on the target path is detected, wherein the first operation is used for removing the first station from the target path; responding to the first operation, and removing a path between two adjacent stations which are used for connecting the first station and the first station on the target path; and connecting the two adjacent sites to obtain the modified target path.
Removal of a first site from the target path may be controlled by performing a first operation on the first site in the list of the plurality of target sites. For example, select "first site" -click "remove" button, remove first site. Alternatively, select "first site" -select "remove site" option in pop-up window or interface, remove first site. "remove site" may also be selected in the pop-up list of options by clicking (left-clicking, right-clicking, etc.) on the first site (e.g., site "S" as shown in fig. 4) on the target route.
After determining the first station to be removed, the first station on the target path may be removed (deleting the path associated with the first station), and two stations adjacent to the first station may be connected, thereby completing the update of the target path.
In an alternative embodiment, after the target path is created on the target map, a third operation performed on a fourth site in the group of sites is detected, wherein the third operation is used for adding the fourth site after a fifth site in the target path or between the fifth site and a sixth site; in response to the third operation, the unconnected end of the fifth station may be connected to the fourth station, or the end of the fifth station connected to the sixth station may be connected to the fourth station, and the end of the sixth station connected to the fifth station may be connected to the fourth station, thereby completing the update of the target path.
According to the embodiment, the target path is updated according to the operation of the first station, the target path can be flexibly set, and the flexibility of robot control is improved.
In an alternative embodiment, after the target path is created on the target map, a path point is set on a path between two adjacent stations in the group of stations (or on a path between two adjacent stations in the plurality of target stations) at intervals of a predetermined length, and a path point set corresponding to the target path is obtained, where the path point set is used to control the second robot to move along the target path according to the order of the path points in the path point set.
For example, the cloud may edit and generate a robot path: after the map is built, data are uploaded to a cloud end, sites are connected in a graphical interface mode, site attributes are edited, the sites are added and deleted, robot paths are built/modified, the cloud end performs difference on the built paths during storage, a path point set with the physical interval being about 20 cm and required by robot navigation is generated, and therefore complete robot map information is obtained and used for robot navigation.
By the embodiment, the finished robot map information is obtained by setting the path point set on the target path, and the accuracy of robot control can be improved.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
In this embodiment, a map building apparatus is further provided, where the map building apparatus is used to implement the foregoing embodiments and preferred embodiments, and details are not repeated after the description is given. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 5 is a block diagram of an alternative map building apparatus according to an embodiment of the present invention, and as shown in fig. 5, the map building apparatus includes:
(1) an obtaining module 52, configured to obtain a set of area information and a set of station information of a target area based on information acquisition of the first robot in the target area, where the set of station information is used to indicate positions of a set of stations in the target area;
(2) a first constructing module 54, connected to the obtaining module 52, configured to construct a target map of the target area according to the set of area information, and mark a set of locations of the sites represented by the set of site information in the target map;
(3) a creation module 56, coupled to the first construction module 54, is configured to create a target path on the target map based on the locations of the marked set of stations, wherein the target path is used for the second robot to move in the target area.
Alternatively, the obtaining module 52 may be configured to perform step S202, the first constructing module 54 may be configured to perform step S204, and the creating module 56 may be configured to perform step S206.
According to the embodiment, a group of area information and a group of site information of the target area are acquired based on information acquisition of the first robot in the target area, the target map of the target area and the sites in the target area are respectively constructed based on the acquired group of area information and the acquired group of site information, so that the target path for the second robot to move in the target area is created, and therefore, one-time implementation can be realized, map construction (map) and site construction (sites where the robot moves) are synchronously performed, and further, the path for the robot to move in the target area is established based on the established sites.
As an optional technical solution, the creating module includes:
(1) a determining unit, configured to determine a plurality of target sites in a group of sites for creating a target path;
(2) and the creating unit is connected with the determining unit and used for creating the target path on the target map by respectively connecting two adjacent target sites in the plurality of target sites.
As an optional technical solution, the apparatus further includes:
(1) the generating module is used for generating a passable area corresponding to the target path according to the passable width of each target station after the target path is created on the target map, wherein the area except the passable area in the target map is an entrance-forbidden area of the second robot;
(2) and the control module is connected with the generation module and is used for controlling the second robot to move in the passable area in the process of controlling the second robot to move along the target path.
As an optional technical solution, the apparatus further includes:
(1) the system comprises a first detection module, a second detection module and a third detection module, wherein the first detection module is used for detecting a first operation executed on a first station on a target path after the target path is created on a target map, and the first operation is used for removing the first station from the target path;
(2) the removing module is connected with the first detecting module and used for responding to the first operation and removing a path between two adjacent stations which are used for connecting the first station and the first station on the target path;
(3) and the connecting module is connected with the removing module and is used for connecting the two adjacent sites to obtain the modified target path.
As an optional technical solution, the apparatus further includes:
(1) and the setting module is used for setting a path point on a path between two adjacent stations in the group of stations at intervals of a preset length after a target path is created on the target map to obtain a path point set corresponding to the target path, wherein the path point set is used for controlling the second robot to move along the target path according to the sequence of the path points in the path point set.
As an optional technical solution, the apparatus further includes:
(1) the second detection module is used for detecting a second operation executed on the target map and a second site after the positions of a group of sites represented by a group of site information are marked in the target map, wherein the second operation is used for changing the attribute value of the site attribute of the second site by using the target attribute value;
(2) and the changing module is connected with the second detection module and used for responding to the second operation and changing the attribute value of the site attribute into the target attribute value.
As an optional technical solution, the apparatus further includes:
(1) the second construction module is used for constructing a first map corresponding to the first area according to the first area information before constructing a target map of the target area according to the group of area information, wherein the first area information is the area information corresponding to the first area in the target area in the group of area information;
(2) and the first establishing module is connected with the second establishing module and used for establishing a first association relationship between the third site and the first map according to the target site information, wherein the target site information is the site information corresponding to the third site in the first area in the group of site information, and the first association relationship is used for representing the position of the third site in the first map.
As an optional technical solution, the apparatus further includes:
(1) the third construction module is used for constructing a second map according to a group of regional information after establishing a first incidence relation between a third site and the first map according to the target site information, wherein the second map is an initial map of a target region;
(1) the second establishing module is connected with the third establishing module and used for establishing a second incidence relation between the third site and the second map by using a group of site information, wherein the second incidence relation is used for representing the position of the third site in the second map;
(2) and the adjusting module is connected with the second establishing module and is used for adjusting the second map and the second incidence relation by using the first map and the first incidence relation to obtain the target map and the position of the third site in the target map.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, acquiring a group of area information and a group of site information of the target area based on information acquisition of the first robot in the target area, wherein the group of site information is used for indicating the positions of a group of sites in the target area;
s2, constructing a target map of the target area according to the group of area information, and marking the positions of the group of sites represented by the group of site information in the target map;
s3, a target path is created on the target map according to the marked locations of the set of stations, wherein the target path is for the second robot to move in the target area.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, acquiring a group of area information and a group of site information of the target area based on information acquisition of the first robot in the target area, wherein the group of site information is used for indicating the positions of a group of sites in the target area;
s2, constructing a target map of the target area according to the group of area information, and marking the positions of the group of sites represented by the group of site information in the target map;
s3, a target path is created on the target map according to the marked locations of the set of stations, wherein the target path is for the second robot to move in the target area.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (18)
1. A map construction method is characterized by comprising the following steps:
acquiring a group of area information and a group of site information of a target area based on information acquisition of a first robot in the target area, wherein the group of site information is used for representing positions of a group of sites in the target area;
constructing a target map of the target area according to the group of area information, and marking the positions of a group of sites represented by the group of site information in the target map;
creating a target path on the target map according to the locations of the marked set of stations, wherein the target path is for a second robot to move in the target area.
2. The method of claim 1, wherein creating a target path on the target map based on the locations of the marked set of sites comprises:
determining a plurality of target sites in the set of sites for creating a target path;
creating a target path on the target map by respectively connecting two adjacent target sites of the plurality of target sites.
3. The method of claim 1, after creating a target path on the target map, the method further comprising:
generating a passable area corresponding to the target path according to the passable width of each station, wherein the area except the passable area in the target map is an entrance prohibition area of the second robot;
controlling the second robot to move within the passable area in a process of controlling the second robot to move along the target path.
4. The method of claim 1, after creating a target path on the target map, the method further comprising:
detecting a first operation performed on a first station on the target path, wherein the first operation is used for removing the first station from the target path;
in response to the first operation, removing a path on the target path between the first station and two adjacent stations of the first station;
and connecting the two adjacent sites to obtain the modified target path.
5. The method of claim 1, after creating a target path on the target map, the method further comprising:
and setting a path point on a path between two adjacent stations in the group of stations at intervals of a preset length to obtain a path point set corresponding to the target path, wherein the path point set is used for controlling the second robot to move along the target path according to the sequence of the path points in the path point set.
6. The method of claim 1, wherein after marking locations of a set of sites represented by the set of site information in the target map, the method further comprises:
detecting a second operation performed on the target map and a second site, wherein the second operation is used for changing an attribute value of a site attribute of the second site by using a target attribute value;
and responding to the second operation, and changing the attribute value of the site attribute into the target attribute value.
7. The method of any of claims 1-6, wherein prior to constructing a target map of the target area from the set of area information, the method further comprises:
constructing a first map corresponding to the first area according to first area information, wherein the first area information is area information corresponding to a first area in the target area in the group of area information;
and establishing a first association relationship between a third site and the first map according to target site information, wherein the target site information is site information corresponding to the third site in the first area in the group of site information, and the first association relationship is used for representing the position of the third site in the first map.
8. The method of claim 7, wherein after establishing the first association between the third site and the first map according to the targeted site information, the method further comprises:
constructing a second map according to the group of regional information, wherein the second map is an initial map of the target region;
establishing a second association relationship between the third site and the second map by using the group of site information, wherein the second association relationship is used for representing the position of the third site in the second map;
and adjusting the second map and the second association relation by using the first map and the first association relation to obtain the target map and the positions of the third site in the target map.
9. An apparatus for constructing a map, comprising:
the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring a group of area information and a group of site information of a target area based on information acquisition of a first robot in the target area, and the group of site information is used for representing the positions of a group of sites in the target area;
the first construction module is used for constructing a target map of the target area according to the group of area information and marking the positions of a group of sites represented by the group of site information in the target map;
a creation module to create a target path on the target map according to locations of the marked set of sites, wherein the target path is for a second robot to move in the target area.
10. The apparatus of claim 9, wherein the creation module comprises:
a determining unit, configured to determine a plurality of target sites used for creating a target path in the group of sites;
a creating unit configured to create a target route on the target map by respectively connecting two adjacent target sites of the plurality of target sites.
11. The apparatus of claim 9, further comprising:
the generating module is used for generating a passable area corresponding to the target path according to the passable width of each station after the target path is created on the target map, wherein the area except the passable area in the target map is an entrance prohibition area of the second robot;
and the control module is used for controlling the second robot to move in the passable area in the process of controlling the second robot to move along the target path.
12. The apparatus of claim 9, further comprising:
the first detection module is used for detecting a first operation performed on a first station on the target path after the target path is created on the target map, wherein the first operation is used for removing the first station from the target path;
a removing module, configured to remove, in response to the first operation, a path between two adjacent stations that are used to connect the first station and the first station on the target path;
and the connecting module is used for connecting the two adjacent sites to obtain the modified target path.
13. The apparatus of claim 9, further comprising:
and the setting module is used for setting a path point on a path between two adjacent stations in the group of stations at intervals of a preset length after the target path is created on the target map, so as to obtain a path point set corresponding to the target path, wherein the path point set is used for controlling the second robot to move along the target path according to the sequence of the path points in the path point set.
14. The apparatus of claim 9, further comprising:
a second detection module, configured to detect a second operation performed on the target map and a second site after marking a position of the group of sites represented by the group of site information in the target map, where the second operation is configured to change an attribute value of a site attribute of the second site using a target attribute value;
and the changing module is used for responding to the second operation and changing the attribute value of the site attribute into the target attribute value.
15. The apparatus of any one of claims 9 to 14, further comprising:
a second construction module, configured to construct a first map corresponding to a first region according to first region information before constructing a target map of the target region according to the set of region information, where the first region information is region information corresponding to the first region in the set of region information;
a first establishing module, configured to establish a first association relationship between a third site and the first map according to target site information, where the target site information is site information corresponding to the third site located in the first area in the group of site information, and the first association relationship is used to indicate a position of the third site in the first map.
16. The apparatus of claim 15, further comprising:
a third construction module, configured to construct a second map according to the group of area information after establishing the first association relationship between the third site and the first map according to the target site information, where the second map is an initial map of the target area;
a second establishing module, configured to establish a second association relationship between the third site and the second map using the group of site information, where the second association relationship is used to represent a location of the third site in the second map;
and the adjusting module is used for adjusting the second map and the second association relation by using the first map and the first association relation to obtain the positions of the target map and the third site in the target map.
17. A storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any of claims 1 to 8 when executed.
18. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method of any of claims 1 to 8 by means of the computer program.
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